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C++ implementation of the pairwise 3D registration algorithm proposed in:

Petrelli A., Di Stefano L., "Pairwise registration by local orientation cues", Computer Graphics Forum, 2015.

http://www.vision.deis.unibo.it/research/78-cvlab/109-reloc

An example can be found in ReLOC_testmain.cpp.

The algorithm can be evaluated through the benchmark proposed in the same paper. The C++ code of the benchmark can be downloaded from here and applied to ReLOC as explained in ReLOC_benchmarkmain.cpp.

The algorithm is going to be integrated in PCL library. Even if the implementation is not yet part of the official distribution, a provisional (but fully-working) version of PCL integrating ReLOC can be downloaded from here. Pcl_ReLOC_benchmarkmain.cpp explains how to apply the algorithm within the benchmark framework.

The algorithm requires the VTK library.

The code has been tested with VTK 5.10 on Windows 7 and Microsoft Visual Studio 2010.