Add muliple point cloud registration to OpenGR

[beautifulv0id]

• Add GRET-SDP registration algorithm.
• Add wrappers for SDP solvers (MOSEK and SDPA).
• Add test file for GRET-SDP.

[nmellado]

Hi @beautifulv0id ,

I know it's been a while, but I try to add your code to OpenGR's master branch.
To finalize this, I miss some data that you were using for testing:
https://github.com/beautifulv0id/OpenGR/blob/bc7e15d321c71ccbabf3482adcf80fb1310e397e/tests/CMakeLists.txt#L93-L97

        add_custom_command(TARGET copy_gret_sdp_data
            POST_BUILD
            COMMAND ${CMAKE_COMMAND} -E make_directory ${GRET_SDP_DATA_DIR_TO}
            COMMAND ${CMAKE_COMMAND} -E copy ${GRET_SDP_DATA_DIR_FROM}/* ${GRET_SDP_DATA_DIR_TO}/.
        )

Do you still have this data somewhere ?

Best

[beautifulv0id]

Hey Nicolas, I’m very happy to hear that. I should still have it. I’m not at home right now, so I’ll have a look at it when I’m back in Monday and let you know. If its not there I’ll just generate new data. Cheers Felix

[nmellado]

Good to hear back from you.
It is great if you can find the data, but I would also be happy to know how you generate it, do you have specific pieces of code for that ? I can't remember.

[beautifulv0id]

I had a look at the test again. I think I just used the bunny from the standard stanford 3D scanning repository and did not generate the data myself. The download link can be found here http://graphics.stanford.edu/data/3Dscanrep/ <http://graphics.stanford.edu/data/3Dscanrep/>. Does that work? Sorry, I can’t try it by myself right now.

[beautifulv0id]

Using the bunny should be fine. The test constructs patches itself from the ground truth transformations. Let me know if you need anything more.