This morning while I was working on my side project, an interesting CMake issue occured. Well you see, I was trying to use the new Cpp20 feature concepts, hence I had to set the compiler flag CMAKE_CXX_STANDARD to 20, as shown below.

Previously, I had published a blog post about ICP algorithm and its basic usage. Iterative closest point algorith is very sensitive to the initial alignment. The good initial alignment will help the algorithm to reach the result faster while preventing it from being stuck in a local minima. With a good initial alignment ICP algorithm can even reach the global minima.

Last year, Point Cloud Library(PCL) replaced the usage of boost shared pointers with standard pointers. From PCL 11.1 and on they started to support standard shared pointers. See here for the change log.

Hi there! You are probably interested in finding the correspondences between two point clouds. Maybe you have data from two different LiDARs and you would like to find the rotation and translation between the devices’ base coordinate systems. Or maybe, you are just like me, interested in finding the transformation between data taken from different media.

Sometimes, especially while working on large tasks, you will require to run many ROS nodes at the same time. This can get tedious easily, since for each ROS node you need to start a new terminal tab. In addition to that; you also need to remember to run roscore.