Performs pairwise coarse alignment followed by ICP refinement.
For px_terrestrial inputs with scan positions, uses those
as initial transformation guesses.
Usage
px_align_scans(
clouds,
voxel_size = 0.5,
refine_with_icp = TRUE,
max_correspondence_distance = 1
)
Arguments
- clouds
List of px_cloud objects. First cloud is the reference.
- voxel_size
Numeric — voxel size for coarse alignment.
- refine_with_icp
Logical — refine with ICP after coarse alignment.
- max_correspondence_distance
Numeric — for ICP refinement.
Value
An alignment_result object with components:
- transformations
List of 4x4 matrices (one per cloud, first is identity)
- pairwise_results
List of icp_result objects
- global_rmse
Numeric — overall RMSE
