ICP algorithm , fast and easy to use in point cloud registration .
Details are found in:
Besl, P., & McKay, N. (1992). A method for registration of 3-D shapes. IEEE Transactions on pattern analysis and machine intelligence, 239-256.
The speed of demo under release X86 mode is close to the funtion "pcregrigid" in Matlab2015a.
Nearest points searching is based on libnabo.from http://github.com/ethz-asl/libnabo.
Include the Extrapolation in quaternion space. Details are found in:
Besl, P., & McKay, N. (1992). A method for registration of 3-D shapes. IEEE Transactions on pattern analysis and machine intelligence, 239-256.
1- Download Eigen 3.0+ from http://eigen.tuxfamily.org.
Add the "Eigen" to fold "src/nabo/".
2- Download boost form http://www.boost.org.
Set path of boost to your project.
3- Use FastICP as the file "src/main.c" shown.