kristerseiya/Registration

Point Cloud Registration Library

This is a C++ library for exploring registration algorithms.
Supports ICP (point-to-point and point-to-plane), Colored ICP, RANSAC (correspondence based and feature based), Fast Global Registration.
C++11 is required

Dependencies:

Eigen, flann, omp

Installation

First, edit the CMakeLists.txt
Run the following command to build the dynamic library

mkdir build && cd build && cmake ..

Usage

Include pointcloud.h and io.h to read point clouds from .ply and .stl files. Include registration.h to perform registration. Include feature.h to compute FPFH features of a point cloud.

run the following command to run registration on pointclouds

./stitch config.json

edit config.json file to change registration algorithms to use and their associated parameters

Acknowledgement

majority of the code taken from Open3D tested on MacOS BigSur