23namespace registration {
25class RegistrationResult;
40 double epsilon = 1e-3,
41 std::shared_ptr<RobustKernel> kernel = std::make_shared<L2Loss>())
54 std::tuple<std::shared_ptr<const geometry::PointCloud>,
55 std::shared_ptr<const geometry::PointCloud>>
59 double max_correspondence_distance)
const override;
66 std::shared_ptr<RobustKernel>
kernel_ = std::make_shared<L2Loss>();
88 double max_correspondence_distance,
89 const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
Real target
Definition SurfaceReconstructionPoisson.cpp:267
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition PointCloud.h:36
Class that defines the convergence criteria of ICP.
Definition Registration.h:36
Definition Registration.h:98
RegistrationResult RegistrationGeneralizedICP(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_correspondence_distance, const Eigen::Matrix4d &init, const TransformationEstimationForGeneralizedICP &estimation, const ICPConvergenceCriteria &criteria)
Function for Generalized ICP registration.
Definition GeneralizedICP.cpp:173
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition Feature.h:25
TransformationEstimationType
Definition TransformationEstimation.h:29
Definition PinholeCameraIntrinsic.cpp:16