The project concentrates on the fusion of scans taken on different positions and under different angles using coordinate system transformation and ICP.
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icp: The folder contains implementation of a class that uses Open3D's Vanilla ICP. It also contains a .ipynb file that contains explanation of the concept.
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colored_icp: The folder contains implementation of a class that uses Open3D's Colored ICP. It also contains a .ipynb file that contains explanation of the concept.
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robust_icp: The folder contains implementation of a class that uses Open3D's Robust ICP. It also contains a .ipynb file that contains explanation of the concept.
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fuse_scans.py: Uses a selecte ICP algorithm and transformation matrices to transform the individual pointclouds to individual cooridnate system and to fuse them. The corresponding .ipynb file contains explanation of the code and results.
Note: For privacy reasons, the folder "data" is not being published.