Point Cloud Registration

An open source library that integrates various point cloud registration algorithms

TODO

• FPFH
• ICP
• NDT
• Ground Extraction

Attention

This project was developed by me during my spare time outside of work. Therefore, due to time constraints, there may be some shortcomings. I apologize for any inconvenience and appreciate your understanding.

How to Build

git clone https://github.com/TechFlowAI/pcr.git
cd pcr
mkdir build
cd build
cmake ..
make -j

Download Data

Place the downloaded pcd files in the /data folder: registration_data

Run Example

Once the code is successfully compiled, you can run the following code

cd bin
./run_fpfh

Free Course Links

• 点云配准第一讲：点云配准初识 https://www.bilibili.com/video/BV1NB4y1d7px/?spm_id_from=333.788&vd_source=af3f3d6d96e7e41b0f57b586f5fbdcc2

• 点云配准教程第二讲：旋转矩阵、旋转向量、欧拉角、四元数 https://www.bilibili.com/video/BV1ZN4y16758/?spm_id_from=333.788&vd_source=af3f3d6d96e7e41b0f57b586f5fbdcc2

• 点云配准教程第三讲：空间变换不同表示方式之间的互相转换 https://www.bilibili.com/video/BV1qw411T7mR/?spm_id_from=333.788&vd_source=af3f3d6d96e7e41b0f57b586f5fbdcc2

• 点云配准教程第四讲：点云配准的基本数学模型及其SVD求解方法 https://www.bilibili.com/video/BV1AN41177dG/?spm_id_from=333.788&vd_source=af3f3d6d96e7e41b0f57b586f5fbdcc2

• 点云配准教程第五讲：点云关键点概念与ISS关键点详解 https://www.bilibili.com/video/BV1DG411Y7zZ/?spm_id_from=333.788&vd_source=af3f3d6d96e7e41b0f57b586f5fbdcc2

• 点云配准教程第六讲：角点与面点的提取与使用 https://www.bilibili.com/video/BV1HG41167ns/?spm_id_from=333.788&vd_source=af3f3d6d96e7e41b0f57b586f5fbdcc2

• 点云配准教程第七讲：点云特征描述子概述与PFH算法 https://www.bilibili.com/video/BV1qZ4y1J7Et/?spm_id_from=333.788&vd_source=af3f3d6d96e7e41b0f57b586f5fbdcc2

WeChat

• Welcome to follow the WeChat official accounts platform: TechFlowAI

• 欢迎关注微信公众号: TechFlowAI

• QR code:

bilibili

• Welcome to follow my bilibili(TechFlowAI): https://space.bilibili.com/350346884?spm_id_from=333.1007.0.0

• 欢迎关注我的b站(TechFlowAI): https://space.bilibili.com/350346884?spm_id_from=333.1007.0.0

• QR code:

Personal Contact Information

This is my personal WeChat contact information. At the same time, this is also the fastest way to communicate with me.

Thanks

Code

• TEASER-plusplus

Dataset

• WHU-TLS BENCHMARK