# pointcloud_align

**Repository Path**: nie_xun/pointcloud_align

## Basic Information

- **Project Name**: pointcloud_align
- **Description**: read pcd file and random transform pointcloud get from pcd file,
apply SE3FA SE3IC EulerFA EulerIC to solve the transform
- **Primary Language**: Unknown
- **License**: LGPL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2022-11-01
- **Last Updated**: 2025-04-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

## Introduction
Corresponding to the content of the paper "Motion Transformation Solutions Based on Euler Angle Perturbation Model", five pose solving methods are introduced.  

This repository code is the application code for point cloud alignment  


## Build:   

mkdir build; cd build  
cmake ..; make  


## Usage:  
Use `./pointcloud_align -h` get more usage  
>./pointcloud_aligntest [opts]  
	    -d --data-file	 The pointcloulds file (pcd format),   
	    ./data/rabbit.pcd will be find by default, if you wasn't specify pcd files!  
	    -m --method	 The method used to solution:  
	        0	 forward addtive method based on SE3, which is default  
	        1	 inverse compositional method based on SE3  
	        2	 forward addtive method based on Euler angles  
	        3	 inverse compositional method based on Euler angles  
	        4	 forward addtive method based on Euler angles, which use complex jacobian  
	    -h --help	 Print the instructions of this tool  

eg:`./pointcloud_align -m 2`  

![example_points_generate](./examples/points_generate.png)
![example_align1](./examples/align1.png)
![example_align2](./examples/align2.png)
![example_points_generate](https://gitee.com/nie_xun/pointcloud_align/blob/master/examples/points_generate.png)
![example_align1](https://gitee.com/nie_xun/pointcloud_align/blob/master/examples/align1.png)
![example_align2](https://gitee.com/nie_xun/pointcloud_align/blob/master/examples/align2.png)