Iterative Closest Point (ICP)

the implementation of iterative closest point algorithm based on python3.

Installation

• Python packages

    pip install -r requirements.txt
  

• Visualization tools

  We use free open source 3D digitization tools Meshlab to display result.

Demo

• No Registration

  You need set Shuffle False in configuration file config/icp.yaml.

  python3 icp_demo.py
  

• Registration + ICP

  You need set Shuffle True in configuration file config/icp.yaml.

  python3 icp_reg_demo.py
  

Three .off file will generate in output/ folder. You can use Meshlab to display them.

Result

• Init

• ICP Result