Module global_registration 

Global point cloud registration via FPFH feature matching and RANSAC.

Implements a coarse-to-fine pipeline:

1. Estimate surface normals (if not pre-computed)
2. Extract FPFH descriptors from source and target
3. Match descriptors to build putative correspondences
4. RANSAC to find the best rigid transformation consistent with those correspondences
5. Optional ICP refinement to polish the coarse alignment

Expected use: call global_registration() to get a good initial pose, then hand off to ICP or NDT for sub-millimetre refinement.

Structs

GlobalRegistrationConfig

Configuration for the global registration pipeline.

GlobalRegistrationResult

Result of the global registration pipeline.

Functions

global_registration

Run the full global registration pipeline on raw (un-normalised) point clouds.

global_registration_with_normals

Global registration when surface normals are already available.