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title: PyReg: A Point Cloud Registration Package for Python
author: Christian Homeyer
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The pyreg registration package allows efficient registration of even larger 3D point clouds. It includes self written local registration algorithms (ICP, CPD) written entirely in Python and a collection of global registration algorithm from several backends in C++.
The background of the project was my master thesis.

This package is not self contained and requires building the separate packages for:

• Mayavi (visualization)
• Super4PCS
• Go-ICP
• Open3D (visualization and essential functions)
• Numerous python packages (Found in requirements.txt for pip)

The package allows several core functions:

• Input/Output methods for various PCL formats
• Rigid manipulation of point clouds
• Feature computations
• Visualization of several properties
• Local registration algorithms with a number of tuning parameters
  • ICP variants with self written solvers
  • Coherent Point Drift (CPD) as a GMM
• Global registration algorithms
  • RANSAC with invariant features
  • Super4PCS
  • GO-ICP
  • Fast Graduated Convexity approach
• Benchmark scripts
• Downsampled datasets:
  • Stanford bunny
  • Stanford dragon