Align pointcloud using 3d feature. Currently only FPFH is supported.
Input pointcloud. The type of point is
Input feature. The type of point is
Reference pointcloud. The type of point is
Reference feature. The type of point is
Transformation to align reference cloud to input cloud.
Reference pointCloud which is aligned to input cloud.
Maximum number of iterations.
Number of neighbors to use when selecting a random feature correspondence.
A higher value will add more randomness to the feature matching.
Similarity threshold in [0,1] between edge lengths of the underlying polygonal correspondence rejector object, where 1 is a perfect match.
Maximum distance threshold between two correspondent points in source <-> target.
Required inlier fraction of the input in [0, 1]
Maximum allowable difference between two consecutive transformations in order for an optimization to be considered as having converged to the final solution.
These parameters can be changed by
roslaunch jsk_pcl_ros sample_feature_registration.launch