Module icp_matching 

Iterative Closest Point (ICP) SLAM implementation

This module implements the ICP algorithm for point cloud registration. It finds the optimal transformation (rotation and translation) between two point sets by iteratively minimizing the distance between corresponding points.

Ported from PythonRobotics Original authors: Atsushi Sakai (@Atsushi_twi), Göktuğ Karakaşlı, Shamil Gemuev

Structs

ICPResult

Functions

apply_2d_transformation

Apply 2D transformation to points

generate_2d_points

Generate random 2D point cloud for testing

icp_matching

Main ICP matching function