43 namespace registration {
45 class RegistrationResult;
56 double lambda_geometric = 0.968,
57 std::shared_ptr<RobustKernel> kernel = std::make_shared<L2Loss>())
59 if (lambda_geometric_ < 0 || lambda_geometric_ > 1.0) {
76 std::shared_ptr<RobustKernel>
kernel_ = std::make_shared<L2Loss>();
103 const Eigen::Matrix4d &init = Eigen::Matrix4d::Identity(),
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Class that defines the convergence criteria of ICP.
Definition: Registration.h:55
Definition: Registration.h:117
TransformationEstimationType
Definition: TransformationEstimation.h:48
std::vector< Eigen::Vector2i > CorrespondenceSet
Definition: TransformationEstimation.h:46
RegistrationResult RegistrationColoredICP(const geometry::PointCloud &source, const geometry::PointCloud &target, double max_distance, const Eigen::Matrix4d &init, const TransformationEstimationForColoredICP &estimation, const ICPConvergenceCriteria &criteria)
Function for Colored ICP registration.
Definition: ColoredICP.cpp:238
Definition: PinholeCameraIntrinsic.cpp:35