AlignmentMethods Namespace Reference

Perform a rigid alignment from source to target cloud. More...

Enumerations
enum	AlignmentMethod {   HARRIS, BOUNDARY, MULTISCALE, NORMALS,   NONE }
	Define possible Alignment methods. More...

Detailed Description

Perform a rigid alignment from source to target cloud.

POINTCLOUDS:

• target pointcloud: should be obtained from converting a part's CAD. Use CADToPointCloud.
• source pointcloud: result from scanning the same CAD part with Leica scanstation C5 (either in reality or in gazebo simulator).

WORKFLOW:

1. Before using this algorithm prepare clouds: Filter pointclouds to enhance results.
2. Extract features and keypoints from pointcloud and it's normals (FPFH descriptor and pcl::MultiscaleFeaturePersistence).
3. Use features and keypoints to determine correspondences between clouds (pcl::CorrespondenceEstimation).
4. Estimate rigid transformation as initial alignment (pcl::TransformationEstimationSVD).
5. Then, apply GICP to refine transformation (pcl::GeneralizedIterativeClosestPoint)

Enumeration Type Documentation

AlignmentMethod

enum AlignmentMethods::AlignmentMethod

Define possible Alignment methods.

Enumerator
HARRIS
BOUNDARY
MULTISCALE
NORMALS
NONE

Definition at line 49 of file InitialAlignment.h.