Is an implementation of Iterative Closest Point (ICP) available in R?

Question

Does someone have an implementation of Iterative Closest Point (ICP) algorithm for two dimensions (2D) in R?

Here is an attempt in c#
Iterative Closest Point Implementation
Here is a more general question
iterative closest point library

This is to match two sets of points through translation and scaling.

R bindings to PCL would do it, I guess: http://pointclouds.org/documentation/tutorials/iterative_closest_point.php [C++ point cloud analysis library] — Spacedman, May 31 '12 at 16:28
PCL seems to be a behemoth, when I only want ICP. Also, PCL is focused on 3D. — Etienne Low-Décarie, Jun 03 '12 at 17:07

score 4 · Answer 1 · answered May 31 '12 at 17:53

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Spacedman's comment is probably best. You might also take a look at http://www.mathworks.com/matlabcentral/fileexchange/loadFile.do?objectId=12627&objectType=file for a matlab implementation. Assuming it works ok, translating Matlab to R code is relatively easy.

answered May 31 '12 at 17:53

Carl Witthoft

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True! I am still lazily hoping that someone out there has done the leg work to bring this into R. There also a few comments of problems with the matlab code. – Etienne Low-Décarie Jun 04 '12 at 23:59

score 3 · Answer 2 · answered Jun 17 '12 at 20:11

This is somewhat of an answer in the form of a non-answer.

There are many variants of ICP. The design choices are at least partially organized by the late 90's Ph.D. work of Pulli and by Rusinkiewicz & Levoy. If you're going to be using ICP for anything remotely important (translation: "more than just a class assignment"), you should understand the tradeoffs.

Thus, it's probably best to take one of the existing implementations and port it to R.

score 2 · Answer 3 · answered Oct 01 '15 at 16:03

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3 Years too late, but there is the function icpmat in the package Morpho by the same guy who wrote Rvcg. I don't know which variant is implemented though.

Link: https://github.com/zarquon42b/Morpho

answered Oct 01 '15 at 16:03

zerweck

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Thank you for updating for those of us who are finding this post many years later. – srvanderplas Dec 10 '19 at 20:22

score 1 · Answer 4 · answered Jun 19 '12 at 09:57

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There is a self-contained (as far as I can tell) C++ implementation of ICP here. Maybe you can create your own R wrapper around this C++ code.

answered Jun 19 '12 at 09:57

Anders Gustafsson

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Is an implementation of Iterative Closest Point (ICP) available in R?

4 Answers4