For our university project we captured a .oni video while walking down a hallway. We then converted each frame of the .oni video to a .pcd file. What do you think the best way would be to stitch these cloud files together to recreate a single point cloud representing the entire captured hallway. I'm not sure if iterative closest point or feature based registration would fit this better. Any recommendations would be appreciated!
Sounds like a job for the PCL registration API. For example take a look at the "How to incrementally register pairs of clouds" tutorial. That uses ICP.
Also take a look at the other registration related tutorials.