GRIP

Implementation of the GRIP algorithm: Global Initializer for Point Cloud Registration.

Installation

pip install gripcd

Basic Usage

• Pairwise:

from grip import PairwiseGRIP, icp

estimator = PairwiseGRIP(icp)
T_s2m_hat = estimator(sources, models)
# or
registered_sources, registered_models = estimator.register(sources, models)

• Generative multiview:

from grip import GenerativeMultiviewsGRIP, ChamferJRMPC

estimator = GenerativeMultiviewsGRIP(ChamferJRMPC())
estimator(views)
T_hat = estimator.T_hat