Function ouster::sdk::algorithm::align_clouds(Eigen::Ref<const core::ArrayX3dR>, Eigen::Ref<const core::ArrayX3dR>, Eigen::Ref<const core::ArrayX3dR>, Eigen::Ref<const core::ArrayX3dR>, const core::Matrix4dR&)

Function Documentation

core::Matrix4dR ouster::sdk::algorithm::align_clouds(Eigen::Ref<const core::ArrayX3dR> source_points, Eigen::Ref<const core::ArrayX3dR> source_normals, Eigen::Ref<const core::ArrayX3dR> target_points, Eigen::Ref<const core::ArrayX3dR> target_normals, const core::Matrix4dR &initial_guess = core::Matrix4dR::Identity())

Estimate alignment from point clouds with normals.

Inputs must already be in a gravity-aligned common frame. The caller is responsible for applying any IMU-based gravity rotation and dewarping (including transforming normals) before calling. Returns source_to_target_transform.

Parameters:

  • source_points[in] Source points transformed by the result as N x 3 XYZ rows.

  • source_normals[in] Source normals aligned with source_points.

  • target_points[in] Reference target points as M x 3 XYZ rows.

  • target_normals[in] Target normals aligned with target_points.

  • initial_guess[in] Initial estimate of source_to_target_transform.

Throws:

std::invalid_argument – If arrays are malformed or have a row count mismatch.

Returns:

Estimated source_to_target_transform.