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Using PCL (Point Cloud Library) to Registration Point Cloud By SAC-IA, Initial Alignment
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PointCloudRegistration
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LICENSE
PointCloudRegistration.sln
Readme.md

Readme.md

SCA-IA

SCA-IA point cloud registration and ICP to solve RT matrix Developed By VS2013update5 and PCL(Point Cloud Library)

Command Line

use program in cmd:

    >> PointCloudRegistration.exe source.pcd target.pcd

Release Version

v2.1 SAC-IA + NDT

v2.0 SAC-IA + ICP

v1.0 SAC-IA

Result View

NDT or ICP after SAC-IA

Right viewer is pointcloud before NDT.

Initial Alignment

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