Point Cloud Library (PCL)
1.8.0
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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 | IncrementalRegistration |
Incremental IterativeClosestPoint class. More... | |
class | LUM |
Globally Consistent Scan Matching based on an algorithm by Lu and Milios. More... | |
class | MetaRegistration |
Meta Registration class. 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 | TransformationEstimation3Point |
TransformationEstimation3Points represents the class for transformation estimation based on: 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... | |
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inline |
calculates the mean and standard deviation of descriptor distances from correspondences
[in] | correspondences | list of correspondences |
[out] | mean | the mean descriptor distance of correspondences |
[out] | stddev | the standard deviation of descriptor distances. |
Definition at line 48 of file correspondence_types.hpp.
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inline |
extracts the match indices
[in] | correspondences | list of correspondences |
[out] | indices | array of extracted indices. |
Definition at line 76 of file correspondence_types.hpp.
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inline |
extracts the query indices
[in] | correspondences | list of correspondences |
[out] | indices | array of extracted indices. |
Definition at line 67 of file correspondence_types.hpp.