2D point clouds registration?

[cjamin]

I'm having the same issue as in #43 .
It finds a translation which is never correct, and the rotation is always the identity. Any idea how to solve the problem?
Here are two point clouds with good overlap that I can't register correctly:
pointclouds.zip

Thanks!

[LotfiZ]

Hi,
Maybe its old but i wanted to give feedback concerning my experience using 2D point clouds like those given by @cjamin. i had the same results with my own dataset : translation is computed but the rotation is always an identity matrix. I know that the 4PCS is made for 3D point clouds like the most global registration algos and maybe its because of the lack of information in the 2D point clouds, but i'm curious if there is a way to adapt the 4PCS in the context of 2D point clouds. What do you think ? Thank you !

[nmellado]

Hi,
Sorry guys but I am currently not able to provide any support or updates to OpenGR.
Registering 2D point clouds could in theory work, but as several of you have experienced troubles, I guess there is a glitch somewhere. If someone want to tackle this issue and contribute to the library, I should be able to give some guidance.
Best
Nicolas

[LotfiZ]

Thanks for the feedback Nicolas, i started to go deeply in the source code and specially in the "congruentSetExplorationBase", however do you have an initial guess (sans mauvais jeu de mots 😄 ) from where to start ?
Thanks for your guidance !