Module icp

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Detailed Description

Version:

0.1

Author:

nksallem@laas.fr

Module icp intends to gather several Iterative Closest Point algorithm variants. ICP is a generic name for several algorithms that intends to find the best nD transform to align a set said scene or data with a model or target one. It is widely used in image range scan to align scans or meshes manipulation.

History

• 0.1 (2011-01-02) - Initial version

Requirements

jmath and boost_sandbox

Macro

Extra doc for macro can go here... (you can delete this section if not relevant)

Tcl interface (generated by swig)

The interface of the module is generated from the following files:

• icp.i defines the wrapped classes and functions,
• icpException.i defines the try { } catch block for this module.

Classes
class	jafar::icp::GICP
	Class GICP stands for Generalized ICP It is implementation of algorithm described in Generalized-ICP, Aleksandr V. More...
class	jafar::icp::IcpException
	Base class for all exceptions defined in the module icp. More...
class	jafar::icp::OICP
	Class OICP stands for Original ICP It is an implementation of Besl original ICP algorithm described in A method for icp of 3-D shapes, Besl and McKay in IEEE PAMI, 14(2):239 - 256, February 1992 It is aim is to align two 3D [later 2D] points cloud computing iteratively the best T3D that can perform it. More...
class	jafar::icp::SVDICP
	Class SVDICP stands for ICP using SVD Taken from "Estimating 3-D rigid body transformations: a comparison of four major algorithms", Eggert et al 97' Originally from Arun et al. More...