Point Cloud Library (PCL) 1.15.0
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/build/pcl-cmFiMl/pcl-1.15.0+dfsg/registration/registration.doxy
1/**
2 \addtogroup registration Module registration
3
4 \section secRegistrationPresentation Overview
5
6Combining several datasets into a global consistent model is usually performed
7using a technique called registration. The key idea is to identify
8corresponding points between the data sets and find a transformation that
9minimizes the distance (alignment error) between corresponding points. This
10process is repeated, since correspondence search is affected by the relative
11position and orientation of the data sets. Once the alignment errors fall below
12a given threshold, the registration is said to be complete.
13
14The <b>pcl_registration</b> library implements a plethora of point cloud
15registration algorithms for both organized and unorganized (general purpose)
16datasets.
17
18PCL's methods to register one point cloud to another can be divided into two groups: the first group needs an initial guess of the transformation (pcl::IterativeClosestPoint, pcl::IterativeClosestPointWithNormals, pcl::IterativeClosestPointNonLinear, pcl::GeneralizedIterativeClosestPoint, pcl::GeneralizedIterativeClosestPoint6D, pcl::NormalDistributionsTransform, pcl::NormalDistributionsTransform2D), and the second group does not need a guess but is usually slower and less accurate (pcl::registration::FPCSInitialAlignment, pcl::registration::KFPCSInitialAlignment, pcl::SampleConsensusInitialAlignment, pcl::SampleConsensusPrerejective, pcl::PPFRegistration). Many parts of the registration process can be configured and swapped out, like the correspondence estimation, correspondence rejection, or the transformation estimation. And finally, PCL also has methods if there are more than two point clouds to align (pcl::registration::ELCH, pcl::registration::LUM, pcl::PairwiseGraphRegistration, pcl::registration::IncrementalRegistration, pcl::registration::MetaRegistration).
19
20\image html http://www.pointclouds.org/assets/images/contents/documentation/registration_outdoor.png
21\image html http://www.pointclouds.org/assets/images/contents/documentation/registration_closeup.png
22
23 \section secRegistrationRequirements Requirements
24 - \ref common "common"
25 - \ref kdtree "kdtree"
26 - \ref sample_consensus "sample_consensus"
27 - \ref features "features"
28
29*/