Implementation of the Iterative Closest Point (ICP) algorithm. More...
|static bool||CalculateOptimalTransformation (const Vec3d *pSourcePoints, const Vec3d *pTargetPoints, int nPoints, Mat3d &rotation, Vec3d &translation)|
Implementation of the Iterative Closest Point (ICP) algorithm.
The ICP algorithm has been first published in (P.J. Besl and N.D. McKay, "A Method for Registration of 3-D Shapes", 1992).
Currently only the core 3D-3D point correspondence optimization function from (B.K.P. Horn, "Closed-form Solution of Absolute Orientation using Unit Quaternions", 1987) is implemented.