Deformation Loop Closure sample code to enable non-rigid alignment of point clouds.
CVD TooN Eigen3 CSparse PCL
If you feel this code was useful please cite the following papers
SynthCam3D: Semantic Understanding With Synthetic Indoor Scenes Ankur Handa, Viorica Patraucean, Vijay Badrinarayanan, Simon Stent, Roberto Cipolla, arXiv:1505.00171
This work builds upon the ideas from
Embedded Deformation for Shape Manipulation: Robert W. Sumner, Johannes Schmid and Mark Pauly, SIGGRAPH 2007
ElasticFusion: Dense SLAM Without A Pose Graph: Thomas Whelan, Stefan Leutenegger, Renato F. Salas-Moreno, Ben Glocker, and Andrew J. Davison, RSS 2015
Various jacobians used in the code are derived in this document which might of some interest: http://mi.eng.cam.ac.uk/~ah781/NonRigidDeformableEmbedding.pdf
Primary Contact: handa.ankur@gmail.com