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MIT-SPARK / TEASER-plusplus

A fast and robust point cloud registration library
MIT License
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[QUESTION] How to register point cloud of different size ? #173

Closed VincentDaanen closed 6 months ago

VincentDaanen commented 10 months ago

Have you read the documentation?

Post your theoretical questions / usage questions here. Hello,

I'm trying to rigidly register a point cloud describing a portion of a bone with a model of this bone so the transform is purely rigid.

Point clouds are pre-registered so that ICP (which is my ground truth algorithm) converges and gives me a good transform.

To my uderstanding, TEASER requires that point clouds have the same number of points.

I tried to complete the smallest point cloud with points of coordinates=(0.,0.,0.) and the results is really bad I also tried to complete the smallest point cloud with points of coordinates (+inf or -inf) (random choice) and the results is also bad

I wonder if someone has succeeded to register point clouds with different number of points with another strategy to complete the smaller point cloud ? May be by duplicating some of the points ?

Thank you

Vincent

jingnanshi commented 10 months ago

@VincentDaanen TEASER takes in correspondences, not point cloud, so the poor performance is due to incorrect inputs. To generate correspondences, I recommend using learning-based approaches.