The goal of this project was to register depth images captured using a Kinect to create a global point cloud model. You can see some results on our log. Also see our final report.

In the cpp folder there are several procedures for registering point clouds and rgb-d datasets and for evaluation of those procedures. All of this depends on the Point Cloud Library (PCL) of which we used version 1.4.0.

You will need cmake (we used version 2.8.7) and c++ compilers (we used those that come with version 3.2.6 of Xcode). First clone the repo and cd to the created directory, then issue the following commands.

$cd cpp
$mkdir build
$cd build
$cmake ../
$make

This will create several executables in your build folder, notably register and evaluation. For more details see the Wiki