pointmatcher.net is a modular Iterative Closest Point library for .net inspired by libpointmatcher and libnabo
pointmatcher.net can take a point cloud and iteratively find a Euclidean transformation that will align it with a reference point cloud.
To use the library in your .net app, simply Add a Reference to the dll and use something like this
DataPoints reading = ...; // initialize your point cloud reading here
DataPoints reference = ...; // initialize your reference point cloud here
EuclideanTransform initialTransform = ...; // your initial guess at the transform from reading to reference
ICP icp = new ICP();
icp.ReadingDataPointsFilters = new RandomSamplingDataPointsFilter(prob: 0.1f);
icp.ReferenceDataPointsFilters = new SamplingSurfaceNormalDataPointsFilter(SamplingMethod.RandomSampling, ratio: 0.2f);
icp.OutlierFilter = new TrimmedDistOutlierFilter(ratio: 0.5f);
var transform = icp.Compute(reading, reference, initialTransform);
pointmatcher.net currently only has a minimal set of the filters available in libpointmatcher. It has also been less extensively tested and optimized.
pointmatcher.net depends on:
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Math.net numerics - A matrix library for .net
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System.Numerics.Vectors - A .net api for SIMD instructions