User documentation
About OpenGR
OpenGR is a set C++ libraries for 3D Global Registration, standalone applications and plugins released under the terms of the APACHE V2 licence, which makes it free for commercial and research use.
It provides state of the art global registration techniques for 3d pointclouds. Still under active development, the library is currently improved by adding wrappers to existing software, and by stabilizing the API.
In a nutshell, it provides:
- two core packages: algorithms and accelerators,
- a convenience packages: utils,
- several demonstrators:
- a command line application,
- wrappers to use the algorithms with the Point Cloud Library and CGAL (coming soon)
- a meshlab plugin
- a test suite
Usage and documentation
- Getting Started : How to use the library in 180 seconds
- Scripts, Demos and wrappers
- Supported File Formats : Supported file formats
- Usage : Hints for usage and parameter tuning
- Developping with the library:
- Compilation : Compilation instructions and supported platform(s...). Also describes how to link with the library using cmake.
- Extending the library : Describes how to add new registration algorithms to the library.
- Using Your Point Type : Describes how to use your point type as input to the library.
- Tests : Monitor continuous integration, run tests on your platform
- Release Notes : Changelog and status of the current release
- Roadmap
- Datasets
Compilation status
| Linux & MacOS | Windows |
|---|---|
| |
| Travis | AppVeyor |
Credits
- Nicolas Mellado: main developper, conception, implementation and examples
This library is based on Super4PCS library, which was also developped by:
- Dror Aiger: 4pcs implementation
- Niloy Mitra: 4pcs implementation
Contributors and support
(With pull request ids if any)
- Lorenz Bung Improve PCL wrapper (#56, #65)
- Alessandro Muntoni Fix compilation on windows (#52)
- Simon Giraudot Code cleaning (#46)
- Necip Fazil Yildiran Range and point type abstraction layer (#31)
- Sebastien Loriot Fix cmake package (#15)
- Sandra Alfaro Implement congruent point algorithms using functors (#13)
- Simone Gasparini Pull-Request reviews
- Kastan Day Added getFitnessScore() to PCL wrapper (#10)
- xinkang Fix include path of timer.h
- Patrick Beeson Fix composition of rotation matrix (#68)
We also wish to thanks Simon Giraudot and https://geometryfactory.com/ for their support and help through our participation to
- the 2019 Google Summer of Code: https://summerofcode.withgoogle.com/projects/#6321265885839360,
- the 2020 Google Summer of Code: https://summerofcode.withgoogle.com/projects/#5673656849530880
