Note

• This is just for personal test.
• The code was modified from Aligning object templates to a point cloud.

Usage

Run the following command:

./template_alignment ../data/object_templates.txt ../data/person.pcd

And if you have PCL installed in your system (which is Ubuntu 14.04 in my case), you might be able to view the alignment result by using:

/usr/bin/pcl_viewer output.pcd ../data/<your_scene_file>.pcd