some question to ask

[lonlonago]

question one: if I have a very large pointcloud ，and I replace one of the point clouds with a large point cloud data, an error will be reported as shown in the figure

The second question: Is there no such function as icp. hasConverted() or icp. getFitnessScore()? How can I judge whether the registration is successful?

Third, I want to use it for initialization positioning based on PCD big map. Do you have any suggestions and how to operate?
can I give a init guess pose to the registration first ?

Thank you very much for your excellent work!

[LimHyungTae]

A1. I guess, feature extraction is only allowed for a single scan.
A2. Once you check the # of final inliers, we can guess whether the registration succeeded or not.
A3. In that case, I'd recommend not using this repository, but please refer to the original TEASER++ repository. And please read my recent paper: https://arxiv.org/abs/2409.15615