Cloudcompare & PCL point cloud point matching (based on point to face distance)

One 、 brief introduction

stay ICP The vertical distance from one point to the tangent plane of another point is often used in the algorithm (“ Point to plane ” Error measurement , As shown in the figure below ) To measure the quality of the registration results , This error measure is characterized by fast convergence , Because flat areas can slide with each other without cost , This method is used in more and more literatures .

Two 、PCL Matching type in

PCL The type is ：pcl::registration::CorrespondenceEstimationNormalShooting< PointSource, PointTarget, NormalT, Scalar >, The required header file is ：

#include <pcl/registration