Qianyi Zhou

We are considering features like this. @griegler @germanros1987 FYI.

See this page for detailed derivation: http://redwood-data.org/indoor/registration.html Basically you can only linearize the transformation matrix when alpha, beta, gamma, a, b, c are all very small values. So ``T`` cannot...

The multi-way registration module is currently not in our code release. It is a bit difficult to clean up the code - since it involves more complicated concepts like the...

I think you can run ICP based on the FGR result and evaluate on that. You can check our latest library Open3D. www.open3d.org It has much more registration algorithms and...

We are transiting the code in this repo to a new repo called Open3D. There is a new FPFH computation and a new FGR. http://www.open3d.org/docs/release/tutorial/Advanced/global_registration.html http://www.open3d.org/docs/release/tutorial/Advanced/fast_global_registration.html They should be faster...

See this page: http://redwood-data.org/indoor/fileformat.html

The transformation matrix (.log) transforms the point cloud to the world coordinate. For information matrix (.info), see this: https://github.com/isl-org/Open3D/blob/6ddbcd5c9b8bf0b496e4151c7d7766af09e3dba7/cpp/open3d/pipelines/registration/GlobalOptimization.cpp#L177

Unfortunately it was a very long time ago, and I don't remember what exactly each number represents. Maybe read the code and find out?

I have moved most functionalities of this repo into a new project, called Open3D. https://github.com/IntelVCL/Open3D It should be very easy to use now. In fact there is a python interface...