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
class	CorrespondenceRejectorDistance
class	CorrespondenceRejectorFeatures
class	CorrespondenceRejectorMedianDistance
class	CorrespondenceRejectorOneToOne
	CorrespondenceRejectorOneToOne implements a correspondence rejection method based on eliminating duplicate match indices in the correspondences. Correspondences with the same match index are removed and only the one with smallest distance between query and match are kept. That is, considering match->query 1-m correspondences are removed leaving only 1-1 correspondences. More...
class	CorrespondenceRejectorSampleConsensus
	CorrespondenceRejectorSampleConsensus implements a correspondence rejection using Random Sample Consensus to identify inliers (and reject outliers) More...
class	CorrespondenceRejectorSurfaceNormal
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
class	DataContainer
class	DataContainerInterface
class	ELCH
	ELCH (Explicit Loop Closing Heuristic) class More...
struct	sortCorrespondencesByDistance
struct	sortCorrespondencesByMatchIndex
struct	sortCorrespondencesByMatchIndexAndDistance
struct	sortCorrespondencesByQueryIndex
struct	sortCorrespondencesByQueryIndexAndDistance
class	TransformationEstimation
	TransformationEstimation represents the base class for methods for transformation estimation based on: More...
class	TransformationEstimationLM
class	TransformationEstimationPointToPlane
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
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	getMatchIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	extracts the match indices
void	getQueryIndices (const pcl::Correspondences &correspondences, std::vector< int > &indices)
	extracts the query 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.