ICP (Iterative Closest Point) code

Hello! I am looking for a code that allows me to do a rigid overlay of two 3D objects (I have the two .txt files with 'r' rows and 3 columns).

I would like to use ICP (Iterative Closest Point) but I haven't found anything.

Can anyone give me some references? A ready-made code would be ideal.

Answer 1

[Bruno Luong]

There are several codes in File exchange

[Alberto Acri]

Thank you for your reply.

I've seen several and among them this one: https://it.mathworks.com/matlabcentral/fileexchange/81273-simpleicp?s_tid=srchtitle

May I ask how can I visualize these figures?

I tried putting this inside the "simpleicp" function (inside the for loop and after calculating iterations) but it didn't work. Would you be able to help me?

figure
plot3(XFix(:,1,i),XFix(:,2,i),XFix(:,3,i),'r.');
hold on
plot3(XMov(:,1,i),XMov(:,2,i),XMov(:,3,i),'b.');
hold off

[Bruno Luong]

Please direct your question to the author of this file rather than me.