This library helps to track (i.e. estimate the pose) of rigid-bodies. It assumes that an initial estimate for the pose of each rigid body is given. The new poses are estimated using the iterative closest point algorithm (ICP) frame-by-frame.
The library is used in the Crazyswarm project.
See cmake.yml workflow for a detailed list of instructions on how to build on Ubuntu.
A pointcloud can be recorded in a binary format, for example using the ROS motion capture package. This can be replayed:
./playclouds ../example/cfg_000.yaml ../example/recording_000