Cloud registration ICP

The project is about iterative closest point cloud registration: given a source and a target point cloud roughly aligned, find the fine alignment transformation of the source to the target cloud.

Create a build folder and compile throw cmake

• mkdir build && cd build
• cmake ..
• make

Test the application

./registration path_to_source path_to_target mode

NB: mode can be svd or lm

Example

• ./registration ../data/bunny/source.ply ../data/bunny/target.ply svd

• ./registration ../data/bunny/source.ply ../data/bunny/target.ply lm

• ./registration ../data/dragon/source.ply ../data/dragon/target.ply svd

• ./registration ../data/dragon/source.ply ../data/dragon/target.ply lm

• ./registration ../data/vase/source.ply ../data/vase/target.ply svd

• ./registration ../data/vase/source.ply ../data/vase/target.ply lm

RMSE results:

• bunny svd = 0.00401621

• bunny lm = 0.00341366

• dragon svd = 0.00568867

• dragon lm = 0.00564134

• vase svd = 0.0162243

• vase lm = 0.0162218