ICP in the PCL package

3
votes

I have installed Point Cloud Library(PCL) package for using Iterative closest point (icp) my question is: this package could be used for 2D data or not ?I want to align two TSNE data which are 2D.Link of the icp method

2
python-3.xcomputer-visionpoint-cloud-libraryrobotics
What is the exact error message? Have you installed PCL itself first? - desertnaut
yes I installed pcl correctly and now I can run this github.com/strawlab/python-pcl/blob/master/tests/… but the problem is how to use icp successfully, - user8523104
so, have you resolved your issue or is the question still open?? - desertnaut
no I could not solve the question yet I am still trying to call icp method, I was expecting only call icp method but it seems that icp needs Transformation in this link, - user8523104

2 Answers

1
votes

It is not a problem even if it supported only 3D. You can add a z=0 coordinate to your data points and the z component will always be zero in your solution.

0
votes

PCL does not have a paired data ICP to the best of my knowledge, but it should be pretty trivial to write as the cost function just considers squared distance between each pair.

I would create clouds of the two sets of points, setting z to zero, write your cost function (sum of squared distances of each pair), and then cycle the icp through xy translation steps and z rotation steps using reverse half-ing style icp stepping.