Point Cloud Registration Tool

Automatically registers (aligns) and visualizes point clouds, or processes a whole bunch at once

Main Features:

• Coarse-to-fine registration (correspondence-based followed by ICP refinement)
• PLY/OBJ input support
• GUI
• Batch processing
• Parallelized
• Outputs to disk:
  • Registered cloud with residual colormap
  • Transformation matrix
  • F-score
  • Histogram of residuals (in GUI mode)

Demo:

Each point is colored proportional to its distance to the closest point on the target cloud.

Color range of the residual colormap: RED = 0cm, BLUE = maximum residual threshold (default: 10cm)

Up/down arrow keys adjust the: maximum residual threshold.

Install:

Ubuntu 14.04:

If you already have ROS installed:

sudo apt-get install libpcl-1.7-all-dev

Else:

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all

Ubuntu 16.04:

sudo apt-get update 
sudo apt-get install libpcl-dev

MacOS:

brew install pcl

More info at: Install PCL on MacOS via Homebrew

Build:

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

In MacOS, you may need to use a different compiler than the one shipped with Xcode to build with openMP,

to compile without openMP parallelization add: -DWITH_OPENMP=OFF

Example Usage:

The source cloud is the one we want to register to the target cloud

./point_cloud_registration_tool --verbose --gui source_cloud.ply target_cloud.ply

Some Flags:

• --verbose, print information along the way
• --gui, show the GUI
• --batch_file, path to a text file containing paths to point cloud pairs

Batch File Format:

source_cloud_1.ply,target_cloud_1.ply
source_cloud_2.obj,target_cloud_2.obj
source_cloud_3.ply,target_cloud_3.obj

you can adjust many parameters of the registration routine, just ask --help

Tested on:

• Ubuntu (PCL 1.7)
• MacOS (PCL 1.8)

Minimum PCL 1.7 required

License

BSD 2-Clause License