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Point cloud alignment with ICP

This repository contains the C++ code developed to align the transformed point cloud with the original.

Project Objective

The objective of this project is to implement point-to-point ICP (Iterative Closest Point) using least square optimization to align the transformed point cloud with the original using PCL(Point Cloud Library).

Dataset

The implementation is done on opensource point cloud dataset cloud_bin_[0-2].pcd and point cloud of a room LiDAR.pcd collected using Velodyne Lidar (VLP-16).

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Opensource Point Cloud (Source: Open3D) Point Cloud collected using VLP-16

Results

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Initial Point Clouds ICP aligned Point Cloud
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Initial Point Clouds of Room ICP aligned Point Cloud of Room

Compiling and Running the Executable

To run the above project, clone the repository by

git clone https://github.com/navoday01/Point-cloud-alignment-with-ICP.git

Now go to Point-cloud-alignment-with-ICP

cd Point-cloud-alignment-with-ICP/

Now create a build folder and go to it

mkdir build && cd build

Run the following command to build system generator

cmake ..

Run the following command to drive the compiler and other build tools to build the code

make

Run the code by entering following in the terminal to visualize implemetation on collected Lidar point cloud. xx is the number of initial iterations to do (1 is the default value) if no value is entered.

./icp ../LiDAR.pcd xx