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yangjiaolong / Go-ICP

Implementation of the Go-ICP algorithm for globally optimal 3D pointset registration
http://jlyang.org/go-icp/
GNU General Public License v3.0
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GO-ICP for 2D registration #10

Open sgrayb opened 3 years ago

sgrayb commented 3 years ago

Is it possible to configure GO-ICP for 2D registration? i.e., two translation parameters and one rotation parameter.

I believe I can effectively set the translation vector to zero by setting transWidth to 0.0 in the config.txt file. Is it possible to set the axes of the translation domain independently?

@yangjiaolong any help would be greatly appreciated.

narutojxl commented 2 years ago

@sgrayb, i have the same question, support 2D registration ? How to config in 2D problem? Config go-icp as the following, still not get right solution. Thanks for your help.

0.0001 0.0 0.0 -3.1416 3.1416 
    <transMinX>-2</transMinX>
    <transMinY>-2</transMinY>
    <transMinZ>0.0</transMinZ>
    <transWidth>1.0</transWidth> 

    <trimFraction>0.0</trimFraction>  
    <distTransSize>200</distTransSize> 
    <distTransExpandFactor>1.0</distTransExpandFactor>

    <doTrim>0</doTrim>

</go-icp>