PointCloudLibrary/pcl

[Question] Are the docs for ICP tutorial up to date?

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#3,969 opened on Apr 24, 2020

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Description

[Question] Hi, I'm trying to do reconstruction with PCL 1.8.1. I've setup a project to do ICP and it seems to be working however I'm not sure what to expect regarding its output and accuracy.

So I tried the tutorial here : http://pointclouds.org/documentation/tutorials/pairwise_incremental_registration.php

But the result aligned cloud seems off, as shown in the image below

registration

As the white arrow points out, the stairs are not aligned properly. You can see the double image.

I expected the alignment to be better than this, so is there something I'm missing?

I didn't change any code from the tutorial except :

reg.setPointRepresentation(boost::make_shared<const MyPointRepresentation>(point_representation));

PCL 1.8.1 doesn't have memory.h for make_shared so I just changed to use boost's.

I don't think this makes a difference but I'm not sure.

Please advise if this is indeed the expected behavior or there are things I can do to make it better.

Thanks

Contributor guide

Research direction
Check the tutorial code against the latest PCL source for any changes in ICP API or default parameters. Verify if the example data used in the tutorial still produces expected alignment.
Tech stack
c
Domain
computer graphics
Issue type
Documentation
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
1
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Under 1 hour
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
C++Point Cloud Library
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
70