Implementation of GRIP & FLAMES algorithms, for Fast & Global Point Cloud rigid registration.
Project description
GRIP
Implementation of GRIP & FLAMES algorithms, for Fast & Global Point Cloud rigid registration.
Installation
pip install grip
Basic Usage
- Pairwise:
from grip import PairwiseGRIP, icp
estimator = PairwiseGRIP(icp)
T_s2m_hat = estimator(sources, models)
# or
registered_sources, registered_models = estimator.register(sources, models)
- Generative multiview:
from grip import GenerativeMultiviewsGRIP, ChamferJRMPC
estimator = GenerativeMultiviewsGRIP(ChamferJRMPC())
estimator(views)
T_hat = estimator.T_hat
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