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An open source library that integrates various point cloud registration algorithms

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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

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