python 点云配准_TEASER++：快速鲁棒的C++点云配准库

TEASER++: fast & certifiable 3D registration

TEASER++ is a fast and certifiably-robust point cloud registration library written in C++, with Python and MATLAB bindings.

About

Left: correspondences generated by 3DSmoothNet (green and red lines represent the inlier and outlier correspondences according to the ground truth respectively). Right: alignment estimated by TEASER++ (green dots represent inliers found by TEASER++).

TEASER++ can solve the rigid body transformation problem between two point clouds in 3D. It performs well even if the input correspondences have an extremely large number of outliers. For a short conceptual introduction, check out our video. For more information, please refer to our papers:

H. Yang, J. Shi, and L. Carlone, "TEASER: Fast and Certifiable Point Cloud Registration,". arXiv:2001.07715 [cs, math], Jan. 2020. (pdf)

H. Yang and L. Carlone, “A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates,” in Robotics: Science and Systems (RSS), 2019. (pdf)

If you find this library helpful or use it in your projects, please cite:

@article{Yang20arXiv-TEASER,

title={TEASER: Fast and Certifiable Point Cloud Registration},

author={Yang, Heng and Shi, Jingnan and Carlone, Luca},

year={2020},

eprint={2001.07715},

archivePrefix={arXiv},

primaryClass={cs.RO},

url = {https://github.com/MIT-SPARK/TEASER-plusplus},

pdf = {https://arxiv.org/abs/2001.07715}

}

If you are interested in more works from us, please visit our lab page here.

TL;DR

Minimal C++ example

Run the following script to show a minimal C++ example:

sudo apt install cmake libeigen3-dev libboost-all-dev

git clone https://github.com/MIT-SPARK/TEASER-plusplus.git

cd TEASER-plusplus && mkdir build && cd build

cmake .. && make

sudo make install

cd .. && cd examples/teaser_cpp_ply && mkdir build && cd build

cmake .. && make

./teaser_cpp_ply

You should see terminal output like this:

Read 1889 total vertices

*** [pmc heuristic: thread 1] current max clique = 577, time = 0.00163579 sec

...

*** [pmc: thread 2] current max clique = 602, time = 0.44515 sec

-----------------------------------------------------------------------

=====================================

TEASER++ Results

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