Mesh (pointCloud+Normals) registration

[odiseo123]

Hi Jacopo,
Thanks for making this code available.
I have two point clouds with normals. One has been computed from a dense SLAM pipeline. The other is a scan from a structured light scanner. I need to align both clouds for evaluation purposes. So far ICP methods fail to register or get stuck in local minima. I would like to test if the extra information encoded by the normals would help me to register the clouds.
I was hoping you could suggest some steps to adapt your code.

My guess is that I would need to bypass the call converter.compute(referenceCloud, scaledDepth, sensorOffset); and fill manually the cloud members (_points, _normals, _rgbs, _stats, _pointInformationMatrix, _normalInformationMatrix and_traversabilityVector). This seems transparent for "points" and "normals" but less for the others.
Furthermore, later I would need to adjust the aligner aligner.setProjector(&pointProjector); for which I do not have any line of sight prior. However, due to my acquisition system I can assume the point clouds to have almost the same orientation but slightly shifted apart.
Any help would be greatly appreciated.
Andres