PCL ICP

Standalone executable performing PCL Normal Distributions Transform and GICP registrations

Build and run

git clone https://github.com/BBO-repo/pcl-registration.git
cd pcl-registration
mkdir build && cd build && cmake .. && make
./align  ../data/16961.280000000.pcd ../data/16961.804000000.pcd
--- pcl::GICP ---
single alignment taken time: 53[ms]
fitness: 0.0455552

--- pcl::NDT ---
single alignment taken time: 43[ms]
fitness: 0.0714274