ICP issue

[徐远]

I want to implement ICP in gtsam ,but when I have no idea as the measurement is always changed with hypothesis in ExpressionFactor . Actually, I want to perform the algorithm in which ,the measurement is always changed with hypothesis because I have known the alignment(hypothesis--measurement) in each iterate.I don’t know which type factor I can choose? Thank you for your help, waiting~~

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[Frank Dellaert]

We are now on github - but this is more of a question than an issue. The alignment step of ICP is already implemented in Pose3::Align.

[Frank Dellaert]

There is a google group “GTSAM users”. The link is on the issue page on github (along with guidelines on how to post an issue)

[Frank Dellaert]

question -> Google group