CEC-Optimizer-Example

Environment

• Kinect for Windows SDK = 2.0
• Point Cloud Library = 1.9.1
  • Boost = 1.68
  • Eigen = 3.3.7
  • FLANN = 1.8.4
  • Qhull = 7.3.0
  • VTK = 8.1.1
  • OPENNI2 = 2.2
• .NET Core SDK >= 3.1.2

Data Preparation

• The Data grabbed from the Kinect V2 by using Kinect V2 Pcl Grabber.

Set Up

• Download and install the Point Cloud Library from PCL and locate under C:/Program Files/PCL 1.9.1/.
• Download and install the Kinect for Windows SDK v2.0 from Kinect v2 SDK.
• Download and install the OPENNI2 from OPENNI2.

Build and Run

• Clone this repository:

  git clone https://github.com/yourusername/CEC-Optimizer-Example.git
  cd CEC-Optimizer-Example
  

• Build and install the project:

  mkdir build
  cd build
  cmake .. -DCMAKE_BUILD_TYPE=Release
  cmake --build . --config Release --prefix "/Your/Install/Path"

Implementation Details

• The Kinect Data grabbed from Kinect V2 Grabber

Performance

Algorithms	Charmfer Distance/mm	Hausdorff Distance/mm
mLSHADE+LM-KRSL	0.426±0.129	0.484±0.103
mLSHADE+LM-KRSMPL	0.471±0.139	0.598±0.117
mLSHADE+LM-MCC	0.461±0.089	0.515±0.059
SHADE+LM-KMPE	0.057±0.029	0.053±0.025
mLSHADE+LM-KMPE	0.031±0.011	0.045±0.009

License

Copyright © 2025 Zhaoyang Wang.

Distributed under the MIT License.

Contact

• Zhaoyang Wang

Reference

• Kinect2Grabber by UnaNancyOwen
• openni_grabber by Point Cloud Library
• NaturalSoftware.Kinect.PCL by Natural Software
• Levenberg-Marquardt Algorithm by Sven Pilz