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Point Cloud Quality Metric
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Full-Reference Metric

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Description
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The Point Cloud Quality Metric (PCQM) is an objective metric for visual quality assessment of colored 3D point clouds. It in an optimally-weighted linear combination of geometry-based and color-based features. It matches color points of an image with PCL points to derive the quality of the PCL points.

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Interpretation
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The smaller the PCQM score, the better is the quality. A PCQM score of 0 is the best.

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Limits
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The quality of the results depends on the matching algorithm between 2D image data and the point cloud data. Therefore the quality of the matching has to be evaluated, too.

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Tools and Libraries
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C++
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A C++ implementation by the authors can be found in https://github.com/MEPP-team/PCQM. 

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Literature
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A detailed description can be found at the https://hal.archives-ouvertes.fr/hal-02529668v1