Add OpenGR Wrapper for Multiple Point Cloud Registration

[beautifulv0id]

Rationale

CGAL recently added wrappers to their library to enable global and local point-cloud registration using the OpenGR library. In the current version, registration can only be performed between two point-clouds.

This small feature adds a wrapper for the OpenGR library to Point Set Processing that computes global registration of multiple point clouds as described in the following paper: Global Registration of Multiple Point Clouds Using Semidefinite Programming, K. N. Chaudhury, Y. Khoo, and A. Singer, SIAM J. Optim., 25(1), 468501. (34 pages).

Note that the above-mentioned approach assumes that the correspondences between the local coordinates and the global coordinates are known. It is therefore the responsibility of the user to provide these correspondences.

Summary of API Changes

The following two functions were added to the Point_set_processing_3 package:

• CGAL::OpenGR::compute_registration_transformations,
• CGAL::OpenGR::register_point_clouds.

Changes

An example that shows the usage of the API: OpenGR GRET-SDP Example.

Links to the reference manual of the added functions:

• compute_registration_transformations,
• register_point_clouds.

Status

The code depends on this version of the OpenGR library that implements the above-mentioned registration algorithm. A pull request was opened to the official OpenGR github repository that is waiting to be merged.

Release Management

• Affected package(s): Point Set Processing
• Feature/Small Feature (if any): Features/Small_Features/OpenGR_wrapper_for_multiple_point_cloud_registration
• Link to compiled documentation: Point_set_processing_3_doc
• License and copyright ownership: no change

[maxGimeno]

There are conflicts with master

[sgiraudot]

The OpenGR PR on which this PR depends is not integrated yet, I suggest we consider this feature as stalled until it's done.

@nmellado do you have an estimation of when Felix's PR will be integrated on your side? Can you ping us when it is the case so we can reactivate this PR?

[sloriot]

ping @nmellado

[nmellado]

Hi,
Just to let you know that I restarted to work on this project, on the OpenGR side.
Hopefully we may have a proposal in the upcoming weeks.