An open source library that integrates various point cloud registration algorithms
- FPFH
- ICP
- NDT
- Ground Extraction
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.
git clone https://github.com/TechFlowAI/pcr.git
cd pcr
mkdir build
cd build
cmake ..
make -jPlace the downloaded pcd files in the /data folder: registration_data
Once the code is successfully compiled, you can run the following code
cd bin
./run_fpfh-
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
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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
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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
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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
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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
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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
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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
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