Classes | Typedefs | Functions

pcl::registration Namespace Reference

Classes

class  CorrespondenceEstimation
 CorrespondenceEstimation represents the base class for determining correspondences between target and query point sets/features. 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  CorrespondenceRejectorOneToOne
 CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating duplicate match indices in the correspondences. More...
class  CorrespondenceRejectorReciprocal
 CorrespondenceRejectorReciprocal implements a reciprocal correspondence rejection method for ICP-like registration algorithms. 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...
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...
struct  Correspondence
 class representing a match between two descriptors More...
class  TransformationEstimation
 TransformationEstimation represents the base class for methods for transformation estimation based on given a correspondence vector More...
class  TransformationEstimationSVD
 TransformationEstimationSVD implements SVD-based estimation of the transformation aligning the given correspondences in target and input point cloud More...

Typedefs

typedef std::vector
< pcl::registration::Correspondence
Correspondences
typedef boost::shared_ptr
< std::vector
< pcl::registration::Correspondence > > 
CorrespondencesPtr
typedef boost::shared_ptr
< const std::vector
< pcl::registration::Correspondence > > 
CorrespondencesConstPtr

Functions

void getCorDistMeanStd (const Correspondences &correspondences, double &mean, double &stddev)
 calculates the mean and standard deviation of descriptor distances from correspondences
void getQueryIndices (const Correspondences &correspondences, std::vector< int > &indices)
 extracts the query indices
void getMatchIndices (const Correspondences &correspondences, std::vector< int > &indices)
 extracts the match indices
std::ostream & operator<< (std::ostream &os, const Correspondence &c)
 overloaded << operator

Typedef Documentation

Definition at line 50 of file correspondence_types.h.

typedef boost::shared_ptr<const std::vector<pcl::registration::Correspondence> > pcl::registration::CorrespondencesConstPtr

Definition at line 55 of file correspondence_types.h.

Definition at line 54 of file correspondence_types.h.


Function Documentation

void pcl::registration::getCorDistMeanStd ( const 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 89 of file correspondence_types.hpp.

void pcl::registration::getMatchIndices ( const 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 115 of file correspondence_types.hpp.

void pcl::registration::getQueryIndices ( const 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 107 of file correspondence_types.hpp.

std::ostream& pcl::registration::operator<< ( std::ostream &  os,
const Correspondence &  c 
) [inline]

overloaded << operator

Definition at line 80 of file correspondence_types.hpp.