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Intro

Practical Semi-automatic Global Registration of Multiple Point Clouds Based on Semidefinite Programming

Dependence

  • Open3d 0.12.0
  • igraph
  • cvxpy

Command

If you only want to test, you can only run:

python run.py

If you want to run on your own data, you can run:

python run.py [data_path] [config_file_path]

We provide some config file in the config folder. In the [data_path], you should put a folder named data in it, and put all the point cloud files in the data folder. You can refer to the structure of the test_data folder.

Note (Manual operation)

Pairwise registration will be performed first, you need to wait for a while.

When the pairwise registration visualization window pops up:

  • If the registration failed or the result, you need press D to delete the correspondences and press Esc to close the window
  • If the registration succeeded, you can press Esc directly