Package Exports

iterative-closest-point
iterative-closest-point/index.js

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Readme

Iterative Closest Point

Customizable Iterative-Closest-Point simple implementation in JS.

See (Iterative Closest Point)[https://en.wikipedia.org/wiki/Iterative_closest_point]

Installation

npm install iterative-closest-point

Usage

As an example, we consider a 1d problem, to match 2 list of numbers (sourceList and destinationList), considering the translation to use.

A diff

const diff = (s,d) => d - s;

match

const munkres = require('munkres-js');

const match = function(sourceListTranslated, destinationList){
    const diffMat = sourceListTranslated.map(a => destinationList.map(b => diff(a,b)))
    const costs = sourceListTranslated.map(a => destinationList.map(b => Math.abs(diff(a,b))))
    
    const assignement = munkres(costs)
    const cost = sum(assignement.map(([i,j]) => costs[i][j]));
    
    return {
        cost,// mandatory
        assignement,// mandatory
        diffs: assignement.map(([i,j]) => diffMat[i][j]) // custom key, we reuse it in estimate
    }
}

estimate

const sum = list => list.reduce((a,b) => a+b, 0);

const estimate = function({diffs}){
    const translation = sum(diffs)/diffs.length;
    return {
        translation: translation
    } // this object will be the input of transformFn
}

transform

const transform = function({translation}, b){
    return b + translation;
}

all together

const Ict = require('iterative-closest-point');

const sourceList = [1,2,3,4,5,6];
const destinationList = [8,9,10,11,12,13];

const ict = new Ict({
    estimate,
    transform,
    match
});

const {transformation, assignement, iteration} = ict.run(source,destination);

console.log(transformation)
// {translation: 7}
console.log(iteration)
// 3
// Explanation : 
// first iteration : basic matching
// second iteration : correct matching
// third iteration : not progressing