example2.cpp File Reference

#include <pcl/console/parse.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/point_representation.h>
#include <pcl/io/pcd_io.h>
#include <pcl/conversions.h>
#include <pcl/keypoints/uniform_sampling.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/fpfh.h>
#include <pcl/registration/correspondence_estimation.h>
#include <pcl/registration/correspondence_rejection_distance.h>
#include <pcl/registration/transformation_estimation_svd.h>

Include dependency graph for example2.cpp:

Go to the source code of this file.

Functions
void	computeTransformation (const PointCloud< PointXYZ >::Ptr &src, const PointCloud< PointXYZ >::Ptr &tgt, Eigen::Matrix4f &transform)
void	estimateFPFH (const PointCloud< PointXYZ >::Ptr &src, const PointCloud< PointXYZ >::Ptr &tgt, const PointCloud< Normal >::Ptr &normals_src, const PointCloud< Normal >::Ptr &normals_tgt, const PointCloud< PointXYZ >::Ptr &keypoints_src, const PointCloud< PointXYZ >::Ptr &keypoints_tgt, PointCloud< FPFHSignature33 > &fpfhs_src, PointCloud< FPFHSignature33 > &fpfhs_tgt)
void	estimateKeypoints (const PointCloud< PointXYZ >::Ptr &src, const PointCloud< PointXYZ >::Ptr &tgt, PointCloud< PointXYZ > &keypoints_src, PointCloud< PointXYZ > &keypoints_tgt)
void	estimateNormals (const PointCloud< PointXYZ >::Ptr &src, const PointCloud< PointXYZ >::Ptr &tgt, PointCloud< Normal > &normals_src, PointCloud< Normal > &normals_tgt)
void	findCorrespondences (const PointCloud< FPFHSignature33 >::Ptr &fpfhs_src, const PointCloud< FPFHSignature33 >::Ptr &fpfhs_tgt, Correspondences &all_correspondences)
int	main (int argc, char **argv)
void	rejectBadCorrespondences (const CorrespondencesPtr &all_correspondences, const PointCloud< PointXYZ >::Ptr &keypoints_src, const PointCloud< PointXYZ >::Ptr &keypoints_tgt, Correspondences &remaining_correspondences)
Variables
PointCloud< PointXYZ >::Ptr	src
PointCloud< PointXYZ >::Ptr	tgt

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Function Documentation

void computeTransformation	(	const PointCloud< PointXYZ >::Ptr &	src,
		const PointCloud< PointXYZ >::Ptr &	tgt,
		Eigen::Matrix4f &	transform
	)

Definition at line 136 of file example2.cpp.

void estimateFPFH	(	const PointCloud< PointXYZ >::Ptr &	src,
		const PointCloud< PointXYZ >::Ptr &	tgt,
		const PointCloud< Normal >::Ptr &	normals_src,
		const PointCloud< Normal >::Ptr &	normals_tgt,
		const PointCloud< PointXYZ >::Ptr &	keypoints_src,
		const PointCloud< PointXYZ >::Ptr &	keypoints_tgt,
		PointCloud< FPFHSignature33 > &	fpfhs_src,
		PointCloud< FPFHSignature33 > &	fpfhs_tgt
	)

Definition at line 76 of file example2.cpp.

void estimateKeypoints	(	const PointCloud< PointXYZ >::Ptr &	src,
		const PointCloud< PointXYZ >::Ptr &	tgt,
		PointCloud< PointXYZ > &	keypoints_src,
		PointCloud< PointXYZ > &	keypoints_tgt
	)

Definition at line 24 of file example2.cpp.

void estimateNormals	(	const PointCloud< PointXYZ >::Ptr &	src,
		const PointCloud< PointXYZ >::Ptr &	tgt,
		PointCloud< Normal > &	normals_src,
		PointCloud< Normal > &	normals_tgt
	)

Definition at line 50 of file example2.cpp.

void findCorrespondences	(	const PointCloud< FPFHSignature33 >::Ptr &	fpfhs_src,
		const PointCloud< FPFHSignature33 >::Ptr &	fpfhs_tgt,
		Correspondences &	all_correspondences
	)

Definition at line 108 of file example2.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 182 of file example2.cpp.

void rejectBadCorrespondences	(	const CorrespondencesPtr &	all_correspondences,
		const PointCloud< PointXYZ >::Ptr &	keypoints_src,
		const PointCloud< PointXYZ >::Ptr &	keypoints_tgt,
		Correspondences &	remaining_correspondences
	)

Definition at line 120 of file example2.cpp.

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Variable Documentation

PointCloud<PointXYZ>::Ptr src

Definition at line 20 of file example2.cpp.

PointCloud<PointXYZ>::Ptr tgt

Definition at line 20 of file example2.cpp.