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Finding correspondence weights

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Finding correspondence weights

john24
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Hello,

I am performing registration on two point clouds and came across a published paper and slides of PCL registration. Both paper and slides have used TransformationEstimationPointToPlaneWeighted method with the following code:

pcl::registration::TransformationEstimationPointToPlaneWeighted<pcl::PointXYZ,pcl::PointNormal,double>te;
te.setWeights(correspondence_weights);
te.estimateRigidTransformation(*cloud_src,*cloud_tgt_normals,*correspondences_filtered,transform);


Everything seems to be good apart the te.setWeights(correspondence_weights); as I can't seem to find anywhere how to get/compute the correspondence_weights vector.

Does anyone know how to get the correspondence_weights ?

Thank you :)
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Re: Finding correspondence weights

sanderV94
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Hi,

I have the same problem. I hope there is somebody who knows the answer.

Goodluck

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Re: Finding correspondence weights

niquiomo
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In reply to this post by john24
I don't find any full paper, but I think that this can help you.

http://lgg.epfl.ch/~ichim/projects/S3005_Radu_Rusu_and_Alexandru_Ichim.pdf
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