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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?

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    $\begingroup$ "I have trustable pair information but with outliers" That's a contradiction. Either you have trustable information (x)or you have outliers. $\endgroup$
    – FooTheBar
    Sep 23 '19 at 8:04
  • $\begingroup$ @FooBar I agree. What I meant is that because it uses some kind of feature descriptor to find matched features it is kind of better than closest point pair methods that most of ICP uses. $\endgroup$ Sep 24 '19 at 1:10

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