Royzon / testICP

A variety of ICP algorithm implementation, can be used to do comparative testing. Include ICP_CERES, ICP_G2O,ICP_SVD etc.

testICP

A variety of ICP algorithm implementation, can be used to do comparative testing; Including ICP, ICP_GN,ICP_SVD,ICP_CERES,ICP_G2O,NDT,SICP,NDT_CPU;

Something may not right

[GN,ceres and g2o left/right perturbation update need further examination]

Example results

-bilibili-video

-csdn

Dependency

-[Eigen]

-[BOOST]

-[PCL]

-[OPENCV]

-[G2o]

-[Ceres]

Install

Use the following commands to download and compile the package.

cd ~/${yourdir}
git clone https://github.com/chengwei0427/testICP.git
cd ./testICP/build
cmake ..
make

Other notes

1. you should change the cmakelist, find the right dependencies; I think you can finish the work yourself

2.you could change the config/config.yaml to test different ICP method;

Run the package

cd ./bin/
./test_optimize_icp

TODO

• add floam use g2o instead of ceres
• Add gicp,vgicp
• [Add Comparison]

Acknowledgements

Thanks shenlan,floam.