PCL_三维点云拼接融合/点云粗配准/点云精配准

1.点云粗配准拼接-Ransac

#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
 
using namespace pcl;
 
//
void
    compute (const PointCloud::Ptr &input, 
    const PointCloud::Ptr &target,
    Eigen::Matrix4f &transformation,
    const double thresh)
{
    SampleConsensusModelRegistration::Ptr model (new SampleConsensusModelRegistration (input));
    model->setInputTarget (target);
 
    RandomSampleConsensus sac (model, thresh);
    sac.setMaxIterations (100000);
 
    if (!sac.computeModel (2))
    {
        PCL_ERROR ("Could not compute a valid transformation!\n