pcl::registration Namespace Reference

Classes
class	CorrespondenceEstimation
	CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features. 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	CorrespondenceRejector
	CorrespondenceRejector represents the base class for correspondence rejection methods More...
class	DataContainerInterface
	DataContainerInterface provides a generic interface for computing correspondence scores between correspondent points in the input and target clouds 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	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	CorrespondenceRejectorSampleConsensus
	CorrespondenceRejectorSampleConsensus implements a 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...
struct	sortCorrespondencesByQueryIndex
	sortCorrespondencesByQueryIndex : a functor for sorting correspondences by query index More...
struct	sortCorrespondencesByMatchIndex
	sortCorrespondencesByMatchIndex : a functor for sorting correspondences by match index More...
struct	sortCorrespondencesByDistance
	sortCorrespondencesByDistance : a functor for sorting correspondences by distance More...
struct	sortCorrespondencesByQueryIndexAndDistance
	sortCorrespondencesByQueryIndexAndDistance : a functor for sorting correspondences by query index _and_ distance More...
struct	sortCorrespondencesByMatchIndexAndDistance
	sortCorrespondencesByMatchIndexAndDistance : a functor for sorting correspondences by match index _and_ distance More...
class	ELCH
	ELCH (Explicit Loop Closing Heuristic) class More...
class	TransformationEstimation
	TransformationEstimation represents the base class for methods for transformation estimation based on: 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	TransformationEstimationSVD
	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...
Functions
void	getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
	calculates the mean and standard deviation of descriptor distances from correspondences
void	getQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	extracts the query indices
void	getMatchIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	extracts the match indices

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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 43 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 69 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 61 of file correspondence_types.hpp.