Probabilistic ICP

Probabilistic variant of the iterative closest point algorithm. The point to plane matching is carried out using the Mahalanobis distance between the distributions from which the points in the PCLs have been drawn.

Dependencies (Ubuntu 16.04)

• PCL http://pointclouds.org/
• EIGEN http://eigen.tuxfamily.org/

Building

Clone this repository and create a build folder under the root, then execute

cd build
cmake ..
make -j4

Available apps

Avalible under the bin folder. Run

./test_picp ../meshes/monkey.ply

And hit space until the algorithm reaches convergence and 'q' to exit.