Classes
class	ConvergenceCriteria
	ConvergenceCriteria represents an abstract base class for different convergence criteria used in registration loops. More...

class	CorrespondenceEstimation
	CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features. More...

class	CorrespondenceEstimationBackProjection
	CorrespondenceEstimationBackprojection computes correspondences as points in the target cloud which have minimum More...

class	CorrespondenceEstimationBase
	Abstract CorrespondenceEstimationBase class. More...

class	CorrespondenceEstimationNormalShooting
	CorrespondenceEstimationNormalShooting computes correspondences as points in the target cloud which have minimum distance to normals computed on the input cloud More...

class	CorrespondenceEstimationOrganizedProjection
	CorrespondenceEstimationOrganizedProjection computes correspondences by projecting the source point cloud onto the target point cloud using the camera intrinsic and extrinsic parameters. More...

class	CorrespondenceRejectionOrganizedBoundary
	The CorrespondenceRejectionOrganizedBoundary class implements a simple correspondence rejection measure. More...

class	CorrespondenceRejector
	CorrespondenceRejector represents the base class for correspondence rejection methods More...

class	CorrespondenceRejectorDistance
	CorrespondenceRejectorDistance implements a simple correspondence rejection method based on thresholding the distances between the correspondences. More...

class	CorrespondenceRejectorFeatures
	CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...

class	CorrespondenceRejectorMedianDistance
	CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences. More...

class	CorrespondenceRejectorOneToOne
	CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating duplicate match indices in the correspondences. More...

class	CorrespondenceRejectorPoly
	CorrespondenceRejectorPoly implements a correspondence rejection method that exploits low-level and pose-invariant geometric constraints between two point sets by forming virtual polygons of a user-specifiable cardinality on each model using the input correspondences. More...

class	CorrespondenceRejectorSampleConsensus
	CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...

class	CorrespondenceRejectorSampleConsensus2D
	CorrespondenceRejectorSampleConsensus2D implements a pixel-based correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...

class	CorrespondenceRejectorSurfaceNormal
	CorrespondenceRejectorSurfaceNormal implements a simple correspondence rejection method based on the angle between the normals at correspondent points. More...

class	CorrespondenceRejectorTrimmed
	CorrespondenceRejectorTrimmed implements a correspondence rejection for ICP-like registration algorithms that uses only the best 'k' correspondences where 'k' is some estimate of the overlap between the two point clouds being registered. More...

class	CorrespondenceRejectorVarTrimmed
	CorrespondenceRejectoVarTrimmed implements a simple correspondence rejection method by considering as inliers a certain percentage of correspondences with the least distances. More...

class	DataContainer
	DataContainer is a container for the input and target point clouds and implements the interface to compute correspondence scores between correspondent points in the input and target clouds More...

class	DataContainerInterface
	DataContainerInterface provides a generic interface for computing correspondence scores between correspondent points in the input and target clouds More...

class	DefaultConvergenceCriteria
	DefaultConvergenceCriteria represents an instantiation of ConvergenceCriteria, and implements the following criteria for registration loop evaluation: More...

class	ELCH
	ELCH (Explicit Loop Closing Heuristic) class More...

class	GraphHandler
	GraphHandler class is a wrapper for a general SLAM graph The actual graph class must fulfil the following boost::graph concepts: More...

class	GraphOptimizer
	GraphOptimizer class; derive and specialize for each graph type More...

class	LUM
	Globally Consistent Scan Matching based on an algorithm by Lu and Milios. More...

struct	NullEstimate
	NullEstimate struct More...

struct	NullMeasurement
	NullMeasurement struct More...

struct	PoseEstimate
	PoseEstimate struct More...

struct	PoseMeasurement
	PoseMeasurement struct More...

struct	sortCorrespondencesByDistance
	sortCorrespondencesByDistance : a functor for sorting correspondences by distance More...

struct	sortCorrespondencesByMatchIndex
	sortCorrespondencesByMatchIndex : a functor for sorting correspondences by match index More...

struct	sortCorrespondencesByMatchIndexAndDistance
	sortCorrespondencesByMatchIndexAndDistance : a functor for sorting correspondences by match index and distance More...

struct	sortCorrespondencesByQueryIndex
	sortCorrespondencesByQueryIndex : a functor for sorting correspondences by query index More...

struct	sortCorrespondencesByQueryIndexAndDistance
	sortCorrespondencesByQueryIndexAndDistance : a functor for sorting correspondences by query index and distance More...

class	TransformationEstimation
	TransformationEstimation represents the base class for methods for transformation estimation based on: More...

class	TransformationEstimation2D
	TransformationEstimation2D implements a simple 2D rigid transformation estimation (x, y, theta) for a given pair of datasets. More...

class	TransformationEstimationDQ
	TransformationEstimationDQ implements dual quaternion based estimation of the transformation aligning the given correspondences. More...

class	TransformationEstimationDualQuaternion
	TransformationEstimationDualQuaternion implements dual quaternion based estimation of the transformation aligning the given correspondences. More...

class	TransformationEstimationLM
	TransformationEstimationLM implements Levenberg Marquardt-based estimation of the transformation aligning the given correspondences. More...

class	TransformationEstimationPointToPlane
	TransformationEstimationPointToPlane uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences. More...

class	TransformationEstimationPointToPlaneLLS
	TransformationEstimationPointToPlaneLLS implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals. More...

class	TransformationEstimationPointToPlaneLLSWeighted
	TransformationEstimationPointToPlaneLLSWeighted implements a Linear Least Squares (LLS) approximation for minimizing the point-to-plane distance between two clouds of corresponding points with normals, with the possibility of assigning weights to the correspondences. More...

class	TransformationEstimationPointToPlaneWeighted
	TransformationEstimationPointToPlaneWeighted uses Levenberg Marquardt optimization to find the transformation that minimizes the point-to-plane distance between the given correspondences. More...

class	TransformationEstimationSVD
	TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences. More...

class	TransformationEstimationSVDScale
	TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences. More...

class	TransformationValidation
	TransformationValidation represents the base class for methods that validate the correctness of a transformation found through TransformationEstimation. More...

class	TransformationValidationEuclidean
	TransformationValidationEuclidean computes an L2SQR norm between a source and target dataset. More...

class	WarpPointRigid
	Base warp point class. More...

class	WarpPointRigid3D
	WarpPointRigid3D enables 3D (1D rotation + 2D translation) transformations for points. More...

class	WarpPointRigid6D
	WarpPointRigid3D enables 6D (3D rotation + 3D translation) transformations for points. More...

Functions
void	getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
	calculates the mean and standard deviation of descriptor distances from correspondences More...

void	getQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	extracts the query indices More...

void	getMatchIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	extracts the match indices More...

Function Documentation

void pcl::registration::getCorDistMeanStd	(	const pcl::Correspondences &	correspondences,
		double &	mean,
		double &	stddev
	)

inline

calculates the mean and standard deviation of descriptor distances from correspondences

Parameters

[in]	correspondences	list of correspondences
[out]	mean	the mean descriptor distance of correspondences
[out]	stddev	the standard deviation of descriptor distances.

Note: The sample varaiance is used to determine the standard deviation

Definition at line 48 of file correspondence_types.hpp.

void pcl::registration::getMatchIndices	(	const pcl::Correspondences &	correspondences,
		std::vector< int > &	indices
	)

inline

extracts the match indices

Parameters

[in]	correspondences	list of correspondences
[out]	indices	array of extracted indices.

Note: order of indices corresponds to input list of descriptor correspondences

Definition at line 76 of file correspondence_types.hpp.

void pcl::registration::getQueryIndices	(	const pcl::Correspondences &	correspondences,
		std::vector< int > &	indices
	)

inline

extracts the query indices

Parameters

[in]	correspondences	list of correspondences
[out]	indices	array of extracted indices.

Note: order of indices corresponds to input list of descriptor correspondences

Definition at line 67 of file correspondence_types.hpp.

Classes

Functions

Function Documentation