---

Tutorials

This page lists the available tutorials for libpointmatcher. The Beginner Section is aimed at the more casual user and contains high-level information on the various steps of point cloud registration. The Advanced Section is targeted at those with existing experience with point cloud registration and proficiency in C++ development. Those who wish to contribute to libpointmatcher can follow the guidelines in the Developer section.

Beginner

• What is libpointmatcher about?
• What can I do with libpointmatcher?
• Ubuntu: How to compile libpointmatcher
• Windows: How to compile libpointmatcher
• Mac OS X: How to compile libpointmatcher
• What the different data filters do?
• Example: Applying a chain of data filters
• Example: An introduction to ICP
• The ICP chain configuration and its variants
• Configuring libpointmatcher using YAML
• Supported file types and importing/exporting point clouds

Advanced

• How to link a project to libpointmatcher?
• How to use libpointmatcher in ROS?
• How are point clouds represented?
• Example: Writing a program which performs ICP
• How to move a point cloud using a rigid transformation?
• Example: Configure an ICP solution without yaml
• Measuring Hausdorff distance, Haussdorff quantile and mean residual error? See this discussion for code examples.
• How to compute the residual error with ErrorMinimizer::getResidualError(...) See the example code provided here.
• How to I build a global map from a sequence of scans? See the example align_sequence.cpp.
• How to minimize the error with translation, rotation and scale? See this example.
• How to do a nearest neighbor search between two point clouds without an ICP object? See the comments here.
• How to construct a DataPoints from my own point cloud? See the unit test on Datapoints here.

Developer

• Creating a DataPointsFilter
• Creating a Transformation
• Creating unit tests

Note: if you don't find what you need, don't hesitate to propose or participate to new tutorials.

---