ICPJS

A Javascript library written in Typescript to perform the iterative closest point (ICP) algorithm on two 2D point clouds.

Installation

npm install @eriknoorland/icpjs

import icpjs from '@eriknoorland/icpjs';

const reference = [{ x, y }];
const points = [{ x, y }];
const result = icpjs.run(reference, points);

console.log(result);

Run function arguments

reference

The reference is a 2D point cloud or line segments array that is used as a map for the algorithm to find the translation and rotation it needs to perform on the points data.

points

These are the points you would like to match against the reference and find the translation and rotation for to align the points cloud to the reference cloud.

pose [optional]

An object { x, y, phi } representing the estimated pose of where the data points where taken from. It defaults to { x: 0, y: 0, phi: 0 }.

options [optional]

maxIterations

This is used to set the maximum number of times the algorithm will try to find the best possible transformation and rotation. The default value is 20.

tolerance

This is the amount the algorithm is allowed to be off to still be considered successful. The default value is 0.1.

Run function return

An object containing the transformation object, an array of transformed data points and the number of itereations it took to get to the result.