pair_feature_colored_icp

Building for source:

$ mkdir build
$ cd build
$ cmake .. && make -j8

Running the sample:

$ ./pair_feature_colored_icp ../data/sofa/cloud_bin_0.pcd ../data/sofa/cloud_bin_1.pcd -v 1
visualize correspondences: true
radius scale | cloud source: 0.0851716 , cloud target: 0.0607552
Harris detector with normal: 
number of source keypoints found: 186
number of target keypoints found: 117
FPFHEstimationOMP
Matching with Kd-tree...
refining matching...
------------------------------------------------------
pre-IterativeClosestPointWithNormals:
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 0
pos-IterativeClosestPointWithNormals:
 0.732575 0.0556007 -0.678412   1.69052
-0.298211  0.922136 -0.246444   1.26394
 0.611886  0.382848  0.692115  -1.61844
        0         0         0         1
------------------------------------------------------
pre-estimateRigidTransformation SVD: 
 0.732575 0.0556007 -0.678412   1.69052
-0.298211  0.922136 -0.246444   1.26394
 0.611886  0.382848  0.692115  -1.61844
        0         0         0         1
pos-estimateRigidTransformation SVD: 
  0.850614 0.00452149  -0.533787   0.611311
 -0.140561   0.970659  -0.215768   0.776143
  0.514968   0.257474   0.822805    -1.4751
         0          0          0          1
------------------------------------------------------
estimated scale: 1.00424
estimated rotation: 
  0.850614 0.00452149  -0.533787
 -0.140561   0.970659  -0.215768
  0.514968   0.257474   0.822805
final transformation: 
  0.850614 0.00452149  -0.533787   0.611311
 -0.140561   0.970659  -0.215768   0.776143
  0.514968   0.257474   0.822805    -1.4751
         0          0          0          1
Saved cloud: pair_icp.pcd

Correspondences:

Capture 1	Capture 2

$ ./pair_feature_colored_icp pair_icp.pcd ../data/sofa/cloud_bin_2.pcd -v 1

Correspondences:

Capture 1	Capture 2

ICP registration:

Points 1	Points 2

Final 1	Final 2