Classes | 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  CorrespondenceRejectorFeatures
 CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. 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  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...
class  ELCH
 ELCH (Explicit Loop Closing Heuristic) class More...
class  IncrementalRegistration
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...

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

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.