Specify two types of csv (target.csv and scan.csv) containing x coordinates in the first row and y coordinates in the second row. Refer to some datasets.
cd simple_icp
python3 icp_kdtree.py <target.csv> <scan.csv>
You can chose 3 types optimization methods. Then, decide the initial pose while referring to the displayed graph. You can fixed the initial pose.
[ ICP/gradient:0, ICP/Newton:1, ICP/CG:2 ] >> 1
<< Please set the initail pose >>
initial_x >> 7
initial_y >> 3.5
initial_theta >> 0
Are you sure you want to conduct ICP from this pose? No:0 Yes:1 >>1
Scan matching animation is saved in output_folder.
