simpleicp 1.0.2

Simple version of the Iterative Closest Point (ICP) algorithm

simpleICP

This package contains an implementation of a rather simple version of the Iterative Closest Point (ICP) algorithm.

Documentation

This python implementation is just one of several (almost identical) implementations of the ICP algorithm in various programming languages. They all share a common documentation here: https://github.com/pglira/simpleICP

Installation

You can install the simpleicp package from PyPI:

pip install simpleicp

How to use

from simpleicp import simpleicp
import numpy as np

# Read fixed and movable point cloud from xyz files into n-by-3 numpy arrays
X_fix = np.genfromtxt("dragon1.xyz")
X_mov = np.genfromtxt("dragon2.xyz")

# Run simpleICP!
H, X_mov_transformed = simpleicp.simpleicp(X_fix, X_mov)

This should give (except for timestamps and timings) this output:

[11:18:30.890] Create point cloud objects ...
[11:18:30.891] Select points for correspondences within overlap area of fixed point cloud ...
[11:18:30.891] Estimate normals of selected points ...
[11:18:31.048] Start iterations ...
[11:18:31.084] Iteration | correspondences | mean(residuals) | std(residuals)
[11:18:31.084]         0 |             768 |          0.0464 |          0.3179
[11:18:31.084]         1 |             768 |          0.0124 |          0.2534
[11:18:31.155]         2 |             773 |          0.0100 |          0.1655
[11:18:31.212]         3 |             772 |          0.0040 |          0.0830
[11:18:31.306]         4 |             749 |          0.0010 |          0.0191
[11:18:31.415]         5 |             758 |         -0.0000 |          0.0024
[11:18:31.487]         6 |             774 |          0.0000 |          0.0022
[11:18:31.556] Convergence criteria fulfilled -> stop iteration!
[11:18:31.556] Estimated transformation matrix H:
[11:18:31.557] H = [    0.998693     0.052911    -0.034201    -0.197402]
[11:18:31.557] H = [   -0.052402     0.999035     0.019119    -0.400079]
[11:18:31.557] H = [    0.034816    -0.017661     0.999446    -0.602222]
[11:18:31.558] H = [    0.000000     0.000000     0.000000     1.000000]
[11:18:31.558] Finished in 0.669 seconds!

Note that dragon1.xyz and dragon2.xyz are not included in this package. They can be downloaded (among other example files) here.