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Depth Camera Tracking
Normal ICP library provides an accurate and robust depth camera tracking system. The code is minimal and simple, try and integrate it in your system now!
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3D Laser Scan Registration
In addition to depth camera images, Normal ICP can register point clouds generated by 3D laser sensors by using spherical depth images. See how to do it!
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Interactive Testing Tools
Normal ICP gives a set of interactive testing tools that help the user to see how the algorithm is behaving under different input and parameters settings!
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New Feature: Nearest Neighbor Data Association
A new fresh feature has been added to NICP, now it is possible align point clouds using a nearest neighbor correspondence search. Check it out on the tutorials page.
Getting Started
Normal ICP is released as a standalone open source C++ library. It can be downloaded directly from Github and its dependencies are only Eigen and OpenCV (also Qt4 and QGLViewer if you need also the visualization part).
Depth Camera Tracking
Normal ICP library provides a precise and robust depth camera tracking system. The code, minimal and simple, can be easily integrated in your system with a very little effort.
3D Laser Scan Registration
In addition to depth camera images, Normal ICP library can register point clouds generated by 3D laser sensors by using spherical depth images. Spherical depth images allow to describe scenes having a field of view even of 360°.
Interactive Testing Tools
Normal ICP library provides a set of interactive testing tools that allows to change on the fly input and parameters of the algorithm. This helps the user to understand how the algorithm is behaving!
