Classes
class	MapMerge3d
	ROS node class. More...

struct	MapMergingParams
	Parameters for map merging high-level interface. More...

Typedefs
typedef pcl::visualization::PointCloudColorHandlerCustom< PointT >	ColorHandlerT

typedef pcl::PCLPointCloud2	LocalDescriptors

typedef pcl::PCLPointCloud2::ConstPtr	LocalDescriptorsConstPtr

typedef pcl::PCLPointCloud2::Ptr	LocalDescriptorsPtr

typedef pcl::Normal	NormalT

typedef pcl::PointCloud< PointT >	PointCloud

typedef pcl::PointCloud< PointT >::ConstPtr	PointCloudConstPtr

typedef pcl::PointCloud< PointT >::Ptr	PointCloudPtr

typedef pcl::PointXYZRGB	PointT

typedef pcl::PointCloud< NormalT >	SurfaceNormals

typedef pcl::PointCloud< NormalT >::ConstPtr	SurfaceNormalsConstPtr

typedef pcl::PointCloud< NormalT >::Ptr	SurfaceNormalsPtr

Functions
PointCloudPtr	composeMaps (const std::vector< PointCloudConstPtr > &clouds, const std::vector< Eigen::Matrix4f > &transforms, double resolution)
	Composes the global map. More...

LocalDescriptorsPtr	computeLocalDescriptors (const PointCloudConstPtr &points, const SurfaceNormalsPtr &normals, const PointCloudPtr &keypoints, Descriptor descriptor, double feature_radius)
	Compute local feature descriptors around each keypoint. More...

SurfaceNormalsPtr	computeSurfaceNormals (const PointCloudConstPtr &input, double radius)
	Estimate cloud surface normals. More...

PointCloudPtr	detectKeypoints (const PointCloudConstPtr &points, const SurfaceNormalsPtr &normals, Keypoint type, double threshold, double radius, double resolution)
	Detects keypoints in the pointcloud. More...

PointCloudPtr	downSample (const PointCloudConstPtr &input, double resolution)
	Voxelize input pointcloud to reduce number of points. More...

DOXYGEN_SKIP	ENUM_CLASS (Descriptor, DESCRIPTORS_NAMES_)

	ENUM_CLASS (Keypoint, SIFT, HARRIS)

	ENUM_CLASS (EstimationMethod, MATCHING, SAC_IA)

std::vector< Eigen::Matrix4f >	estimateMapsTransforms (const std::vector< PointCloudConstPtr > &clouds, const MapMergingParams &params)
	Estimate transformations between n pointclouds. More...

Eigen::Matrix4f	estimateTransform (const PointCloudPtr &source_points, const PointCloudPtr &source_keypoints, const LocalDescriptorsPtr &source_descriptors, const PointCloudPtr &target_points, const PointCloudPtr &target_keypoints, const LocalDescriptorsPtr &target_descriptors, EstimationMethod method, bool refine, double inlier_threshold, double max_correspondence_distance, int max_iterations, size_t matching_k, double transform_epsilon)
	Estimate transformation between two pointclouds. More...

Eigen::Matrix4f	estimateTransformFromCorrespondences (const PointCloudPtr &source_keypoints, const PointCloudPtr &target_keypoints, const CorrespondencesPtr &correspondences, CorrespondencesPtr &inliers, double inlier_threshold)
	Estimates transformation between source and target pointcloud based on correspondences. More...

Eigen::Matrix4f	estimateTransformFromDescriptorsSets (const PointCloudPtr &source_keypoints, const LocalDescriptorsPtr &source_descriptors, const PointCloudPtr &target_keypoints, const LocalDescriptorsPtr &target_descriptors, double min_sample_distance, double max_correspondence_distance, int max_iterations)
	Estimates transformation between source and target pointcloud based on descriptors. More...

Eigen::Matrix4f	estimateTransformICP (const PointCloudPtr &source_points, const PointCloudPtr &target_points, const Eigen::Matrix4f &initial_guess, double max_correspondence_distance, double outlier_rejection_threshold, int max_iterations=100, double transformation_epsilon=0.0)
	Use ICP to estimate transform between grids. More...

CorrespondencesPtr	findFeatureCorrespondences (const LocalDescriptorsPtr &source_descriptors, const LocalDescriptorsPtr &target_descriptors, size_t k=5)
	Finds correspondences between two sets of feature descriptors. More...

std::ostream &	operator<< (std::ostream &stream, const MapMergingParams &params)

PointCloudPtr	removeOutliers (const PointCloudConstPtr &input, double radius, int min_neighbours)
	Removes outliers from the pointcloud. More...

double	transformScore (const PointCloudPtr &source_points, const PointCloudPtr &target_points, const Eigen::Matrix4f &transform, double max_distance)
	Computes euclidean distance between two pointclouds. More...