Aligning and Registering two point clouds

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Created Mar ’23

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Does anyone know if there's a native library or API to align two point clouds in Swift/ARKit such as ICP? I know it's possible to do it in Python using the Open3D library http://www.open3d.org/docs/release/tutorial/pipelines/icp_registration.html

It seems like ARWorldMap would need some sort of similar capability to do tracking and resume the session from the same state later., so I'm curious if anyone knows how it works under the hood.

Or if you have any suggestions, I'd appreciate some pointers. Thank you.

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olivy233 OP

Mar ’23

Hi I have the same question, I'm thinking since swift can call C++ code, then probably you can use the C++ library of Open3D, but I don't know if it will be better performance than just call Python library of Open3D from swift. According to this post, https://developer.apple.com/forums/thread/669709, it seems this person is using Python from swift to handle point cloud file, and says "this solution much better than my previous attempts at using C++ libraries (Even if that depend on how I interface things more than the inherent performance or C++ or Python", but the description is very vague to make assumptions. I'm willing to discuss more about point cloud handling.

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