PCL point cloud registration based on relative topological relationship (two-dimensional space)

1. Introduction

Here, an appropriate transformation matrix is ​​calculated based on the relative positional relationship between each point of the two-dimensional point set, so as to realize the registration process of the two-dimensional point cloud.

Two, implement the code

match2d.h

#ifndef MATCHING_H
#define MATCHING_H

#include <pcl/common/c