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norlab-ulaval / libpointmatcher

An Iterative Closest Point (ICP) library for 2D and 3D mapping in Robotics
BSD 3-Clause "New" or "Revised" License
1.62k stars 547 forks source link

Add reciprocal search to the matching functions #140

Open pomerlef opened 8 years ago

pomerlef commented 8 years ago

Allow users to search: A -> B or A <-> B

oleg-alexandrov commented 8 years ago

I assume the desire here is to search from cloud A for matching points in cloud B, and vice-versa?

If that is so, this feature my not always make sense in all circumstances. ICP works beautifully when the reference (reading) cloud is much denser and covering a lot more ground than the movable (source) cloud. So the clouds may not be always interchangeable, and in such a case the reciprocal search may give inaccurate results and would be slow.