Add OpenGR Wrapper for Multiple Point Cloud Registration#4963
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beautifulv0id wants to merge 30 commits intoCGAL:mainfrom
Open
Add OpenGR Wrapper for Multiple Point Cloud Registration#4963beautifulv0id wants to merge 30 commits intoCGAL:mainfrom
beautifulv0id wants to merge 30 commits intoCGAL:mainfrom
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…_set_processing_3/Point_set_processing_3.txt
sloriot
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Pkg::Point_set_processing_3
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ping @nmellado |
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Rationale
CGAL recently added wrappers to their library to enable global and local point-cloud registration using the OpenGR library. In the current version, registration can only be performed between two point-clouds.
This small feature adds a wrapper for the OpenGR library to Point Set Processing that computes global registration of multiple point clouds as described in the following paper: Global Registration of Multiple Point Clouds Using Semidefinite Programming, K. N. Chaudhury, Y. Khoo, and A. Singer, SIAM J. Optim., 25(1), 468501. (34 pages).
Note that the above-mentioned approach assumes that the correspondences between the local coordinates and the global coordinates are known. It is therefore the responsibility of the user to provide these correspondences.
Summary of API Changes
The following two functions were added to the Point_set_processing_3 package:
CGAL::OpenGR::compute_registration_transformations,CGAL::OpenGR::register_point_clouds.Changes
An example that shows the usage of the API: OpenGR GRET-SDP Example.
Links to the reference manual of the added functions:
Status
The code depends on this version of the OpenGR library that implements the above-mentioned registration algorithm. A pull request was opened to the official OpenGR github repository that is waiting to be merged.
Release Management