Toolkit for registration and evaluation for 3D laser scanner acquisition

The construction of numerical representation of 3D objects based on laser scan acquisition is composed by three steps: the range image acquisition, the registration and the integration. Experiments show that registration plays a key role in the final representation precision. This article is a practical report containing the description of a toolkit for registration and for evaluation of the registered mesh model according to geometrical and topological criteria. Examples of manipulation of the toolkit are provided for synthetic and real objects