Running on PCL clouds?

[antithing]

Hi, and thank you for making this code available. I have it building, but would like to pass two PCL clouds in, and run the icp on those.

for example:

	pcl::PointCloud<pcl::PointXYZI>::Ptr cloudQuery(new pcl::PointCloud<pcl::PointXYZI>);
	pcl::PointCloud<pcl::PointXYZI>::Ptr cloudRef(new pcl::PointCloud<pcl::PointXYZI>);

	if (pcl::io::loadPCDFile<pcl::PointXYZI>("query_114.pcd", *cloudQuery) == -1) //* load the file
	{
		PCL_ERROR("Couldn't read file query_114.pcd \n");
		return (-1);
	}

	if (pcl::io::loadPCDFile<pcl::PointXYZI>("reference_114.pcd", *cloudRef) == -1) //* load the file
	{
		PCL_ERROR("Couldn't read file reference_114.pcd \n");
		return (-1);
	}

Where the clouds are literally just three floats per point, as:

-5.4740019 -4.1216536 8.3391247

What do i need to adjust to pass these clouds to your code?

Thanks again!

[mp3guy]

You can't just pass clouds. This is projective ICP, it relies on the points coming from a camera (i.e. they can be projected between them). If you want to use this without having that, you need to perform data association between the clouds yourself.

[antithing]

I see. So random clouds from a lidar would not work, but Organised clouds, eg from a realsense, or stereo disparity, would work? In which case i could just create a depth 'image', using the row and column value, and the depth value of each pixel, does that sound right?

thank you again for the code.

[mp3guy]

Yep, you could do that!

[antithing]

Ok awesome. Thanks! :)