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koide3 / ndt_omp

Multi-threaded and SSE friendly NDT algorithm
BSD 2-Clause "Simplified" License
743 stars 325 forks source link

How to assign ndt_omp initial guess transformation between source cloud and target cloud #31

Open Shelfcol opened 3 years ago

Shelfcol commented 3 years ago

Hello, your repo is really impressive. Pcl ndt algorithm uses align() function to set approximate transformation between source cloud and target cloud,but align() function in your ndt_omp repo differs from pcl . How can I set approximate transformation between source cloud and target cloud?Thank you.

koide3 commented 3 years ago

It has the same pcl::Registration interface as PCL's NDT. You can simply pass a point cloud and initial guess to align().