GPGPU Iterative Closest Point Algorithm

Usage

CPU

make cpu-all: builds the sources with the CPU CMakeList.txt

make cpu-check: builds and the sources with the CPU CMakeList.txt

make cpu-clean: cleans the cpu_src directory

GPU

make all: builds the sources with the GPU CMakeList.txt

make check: builds and the sources with the GPU CMakeList.txt

make clean: cleans the gpu_src directory

Benchmark

Timed benchmark :

make cow1

make cow2

Test set execution :

make horse1/horse2/bun45/bun180/bun270/bun315

Resource

Matlab implementation http://www.sci.utah.edu/~shireen/pdfs/tutorials/Elhabian_ICP09.pdf

A detailed Python implementation (Jupyter notebook) https://github.com/niosus/notebooks/blob/master/icp.ipynb

A great visualization tool for 3D point clouds https://www.paraview.org/

The Point Cloud Library (PCL) https://pointclouds.org/

PCL Tutorial: How to use iterative closest point https://pcl.readthedocs.io/projects/tutorials/en/latest/iterative_closest_point.html

GROUPE F : La WatiZamen Team

Chow William
 DoriAn Vinai
   AnToine Coulon
    VIncent Payet
   LaBonne