I have pairs of matched 3D points (10~50 points) with outliers included. I would like to find the transformation that aligns the source points to the destination points.
To prevent reinventing the wheel, I am looking for a library or code that can process the source, destination and pairs information.
It seems like most of the ICP libraries I found on google takes source, destination points and find matched points by itself which I don't need. Furthermore, global registration performance of commonly used ICP libraries is usually poor. I have trustable pair information but with outliers. I just need RANSAC and registration without the closest point finder.
I already have the code that I wrote in Matlab using RANSAC and SVD but I need c++ version. Does anyone know such code or library?