|
| | GeneralizedIterativeClosestPoint6D (float lab_weight=0.032f) |
| | constructor. More...
|
| |
| void | setInputSource (const PointCloudSourceConstPtr &cloud) override |
| | Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...
|
| |
| void | setInputTarget (const PointCloudTargetConstPtr &target) override |
| | Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More...
|
| |
| PCL_MAKE_ALIGNED_OPERATOR_NEW | GeneralizedIterativeClosestPoint () |
| | Empty constructor. More...
|
| |
| void | setInputSource (const PointCloudSourceConstPtr &cloud) override |
| | Provide a pointer to the input dataset. More...
|
| |
| void | setSourceCovariances (const MatricesVectorPtr &covariances) |
| | Provide a pointer to the covariances of the input source (if computed externally!). More...
|
| |
| void | setInputTarget (const PointCloudTargetConstPtr &target) override |
| | Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More...
|
| |
| void | setTargetCovariances (const MatricesVectorPtr &covariances) |
| | Provide a pointer to the covariances of the input target (if computed externally!). More...
|
| |
| void | estimateRigidTransformationBFGS (const PointCloudSource &cloud_src, const pcl::Indices &indices_src, const PointCloudTarget &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) |
| | Estimate a rigid rotation transformation between a source and a target point cloud using an iterative non-linear BFGS approach. More...
|
| |
| void | estimateRigidTransformationNewton (const PointCloudSource &cloud_src, const pcl::Indices &indices_src, const PointCloudTarget &cloud_tgt, const pcl::Indices &indices_tgt, Matrix4 &transformation_matrix) |
| | Estimate a rigid rotation transformation between a source and a target point cloud using an iterative non-linear Newton approach. More...
|
| |
| const Eigen::Matrix3d & | mahalanobis (std::size_t index) const |
| |
| void | computeRDerivative (const Vector6d &x, const Eigen::Matrix3d &dCost_dR_T, Vector6d &g) const |
| | Computes the derivative of the cost function w.r.t rotation angles. More...
|
| |
| void | setRotationEpsilon (double epsilon) |
| | Set the rotation epsilon (maximum allowable difference between two consecutive rotations) in order for an optimization to be considered as having converged to the final solution. More...
|
| |
| double | getRotationEpsilon () const |
| | Get the rotation epsilon (maximum allowable difference between two consecutive rotations) as set by the user. More...
|
| |
| void | setCorrespondenceRandomness (int k) |
| | Set the number of neighbors used when selecting a point neighbourhood to compute covariances. More...
|
| |
| int | getCorrespondenceRandomness () const |
| | Get the number of neighbors used when computing covariances as set by the user. More...
|
| |
| void | useBFGS () |
| | Use BFGS optimizer instead of default Newton optimizer. More...
|
| |
| void | setMaximumOptimizerIterations (int max) |
| | Set maximum number of iterations at the optimization step. More...
|
| |
| int | getMaximumOptimizerIterations () const |
| | Return maximum number of iterations at the optimization step. More...
|
| |
| void | setTranslationGradientTolerance (double tolerance) |
| | Set the minimal translation gradient threshold for early optimization stop. More...
|
| |
| double | getTranslationGradientTolerance () const |
| | Return the minimal translation gradient threshold for early optimization stop. More...
|
| |
| void | setRotationGradientTolerance (double tolerance) |
| | Set the minimal rotation gradient threshold for early optimization stop. More...
|
| |
| double | getRotationGradientTolerance () const |
| | Return the minimal rotation gradient threshold for early optimization stop. More...
|
| |
| void | setNumberOfThreads (unsigned int nr_threads=0) |
| | Initialize the scheduler and set the number of threads to use. More...
|
| |
| | IterativeClosestPoint () |
| | Empty constructor. More...
|
| |
| | IterativeClosestPoint (const IterativeClosestPoint &)=delete |
| | Due to convergence_criteria_ holding references to the class members, it is tricky to correctly implement its copy and move operations correctly. More...
|
| |
| | IterativeClosestPoint (IterativeClosestPoint &&)=delete |
| |
| IterativeClosestPoint & | operator= (const IterativeClosestPoint &)=delete |
| |
| IterativeClosestPoint & | operator= (IterativeClosestPoint &&)=delete |
| |
| | ~IterativeClosestPoint () override=default |
| | Empty destructor. More...
|
| |
| pcl::registration::DefaultConvergenceCriteria< float >::Ptr | getConvergeCriteria () |
| | Returns a pointer to the DefaultConvergenceCriteria used by the IterativeClosestPoint class. More...
|
| |
| void | setInputSource (const PointCloudSourceConstPtr &cloud) override |
| | Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...
|
| |
| void | setInputTarget (const PointCloudTargetConstPtr &cloud) override |
| | Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More...
|
| |
| void | setUseReciprocalCorrespondences (bool use_reciprocal_correspondence) |
| | Set whether to use reciprocal correspondence or not. More...
|
| |
| bool | getUseReciprocalCorrespondences () const |
| | Obtain whether reciprocal correspondence are used or not. More...
|
| |
| void | setNumberOfThreads (unsigned int nr_threads) |
| | Set the number of threads to use. More...
|
| |
| | Registration () |
| | Empty constructor. More...
|
| |
| | ~Registration () override=default |
| | destructor. More...
|
| |
| void | setTransformationEstimation (const TransformationEstimationPtr &te) |
| | Provide a pointer to the transformation estimation object. More...
|
| |
| void | setCorrespondenceEstimation (const CorrespondenceEstimationPtr &ce) |
| | Provide a pointer to the correspondence estimation object. More...
|
| |
| virtual void | setInputSource (const PointCloudSourceConstPtr &cloud) |
| | Provide a pointer to the input source (e.g., the point cloud that we want to align to the target) More...
|
| |
| PointCloudSourceConstPtr const | getInputSource () |
| | Get a pointer to the input point cloud dataset target. More...
|
| |
| virtual void | setInputTarget (const PointCloudTargetConstPtr &cloud) |
| | Provide a pointer to the input target (e.g., the point cloud that we want to align the input source to) More...
|
| |
| PointCloudTargetConstPtr const | getInputTarget () |
| | Get a pointer to the input point cloud dataset target. More...
|
| |
| void | setSearchMethodTarget (const KdTreePtr &tree, bool force_no_recompute=false) |
| | Provide a pointer to the search object used to find correspondences in the target cloud. More...
|
| |
| KdTreePtr | getSearchMethodTarget () const |
| | Get a pointer to the search method used to find correspondences in the target cloud. More...
|
| |
| void | setSearchMethodSource (const KdTreeReciprocalPtr &tree, bool force_no_recompute=false) |
| | Provide a pointer to the search object used to find correspondences in the source cloud (usually used by reciprocal correspondence finding). More...
|
| |
| KdTreeReciprocalPtr | getSearchMethodSource () const |
| | Get a pointer to the search method used to find correspondences in the source cloud. More...
|
| |
| Matrix4 | getFinalTransformation () |
| | Get the final transformation matrix estimated by the registration method. More...
|
| |
| Matrix4 | getLastIncrementalTransformation () |
| | Get the last incremental transformation matrix estimated by the registration method. More...
|
| |
| void | setMaximumIterations (int nr_iterations) |
| | Set the maximum number of iterations the internal optimization should run for. More...
|
| |
| int | getMaximumIterations () |
| | Get the maximum number of iterations the internal optimization should run for, as set by the user. More...
|
| |
| void | setRANSACIterations (int ransac_iterations) |
| | Set the number of iterations RANSAC should run for. More...
|
| |
| double | getRANSACIterations () |
| | Get the number of iterations RANSAC should run for, as set by the user. More...
|
| |
| void | setRANSACOutlierRejectionThreshold (double inlier_threshold) |
| | Set the inlier distance threshold for the internal RANSAC outlier rejection loop. More...
|
| |
| double | getRANSACOutlierRejectionThreshold () |
| | Get the inlier distance threshold for the internal outlier rejection loop as set by the user. More...
|
| |
| void | setMaxCorrespondenceDistance (double distance_threshold) |
| | Set the maximum distance threshold between two correspondent points in source <-> target. More...
|
| |
| double | getMaxCorrespondenceDistance () |
| | Get the maximum distance threshold between two correspondent points in source <-> target. More...
|
| |
| void | setTransformationEpsilon (double epsilon) |
| | Set the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
|
| |
| double | getTransformationEpsilon () |
| | Get the transformation epsilon (maximum allowable translation squared difference between two consecutive transformations) as set by the user. More...
|
| |
| void | setTransformationRotationEpsilon (double epsilon) |
| | Set the transformation rotation epsilon (maximum allowable rotation difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution. More...
|
| |
| double | getTransformationRotationEpsilon () |
| | Get the transformation rotation epsilon (maximum allowable difference between two consecutive transformations) as set by the user (epsilon is the cos(angle) in a axis-angle representation). More...
|
| |
| void | setEuclideanFitnessEpsilon (double epsilon) |
| | Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...
|
| |
| double | getEuclideanFitnessEpsilon () |
| | Get the maximum allowed distance error before the algorithm will be considered to have converged, as set by the user. More...
|
| |
| void | setPointRepresentation (const PointRepresentationConstPtr &point_representation) |
| | Provide a boost shared pointer to the PointRepresentation to be used when comparing points. More...
|
| |
| bool | registerVisualizationCallback (std::function< UpdateVisualizerCallbackSignature > &visualizerCallback) |
| | Register the user callback function which will be called from registration thread in order to update point cloud obtained after each iteration. More...
|
| |
| double | getFitnessScore (double max_range=std::numeric_limits< double >::max()) |
| | Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) More...
|
| |
| double | getFitnessScore (const std::vector< float > &distances_a, const std::vector< float > &distances_b) |
| | Obtain the Euclidean fitness score (e.g., mean of squared distances from the source to the target) from two sets of correspondence distances (distances between source and target points) More...
|
| |
| bool | hasConverged () const |
| | Return the state of convergence after the last align run. More...
|
| |
| void | align (PointCloudSource &output) |
| | Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...
|
| |
| void | align (PointCloudSource &output, const Matrix4 &guess) |
| | Call the registration algorithm which estimates the transformation and returns the transformed source (input) as output. More...
|
| |
| const std::string & | getClassName () const |
| | Abstract class get name method. More...
|
| |
| bool | initCompute () |
| | Internal computation initialization. More...
|
| |
| bool | initComputeReciprocal () |
| | Internal computation when reciprocal lookup is needed. More...
|
| |
| void | addCorrespondenceRejector (const CorrespondenceRejectorPtr &rejector) |
| | Add a new correspondence rejector to the list. More...
|
| |
| std::vector< CorrespondenceRejectorPtr > | getCorrespondenceRejectors () |
| | Get the list of correspondence rejectors. More...
|
| |
| bool | removeCorrespondenceRejector (unsigned int i) |
| | Remove the i-th correspondence rejector in the list. More...
|
| |
| void | clearCorrespondenceRejectors () |
| | Clear the list of correspondence rejectors. More...
|
| |
| | PCLBase () |
| | Empty constructor. More...
|
| |
| | PCLBase (const PCLBase &base) |
| | Copy constructor. More...
|
| |
| virtual | ~PCLBase ()=default |
| | Destructor. More...
|
| |
| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| | Provide a pointer to the input dataset. More...
|
| |
| PointCloudConstPtr const | getInputCloud () const |
| | Get a pointer to the input point cloud dataset. More...
|
| |
| virtual void | setIndices (const IndicesPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
|
| |
| virtual void | setIndices (const IndicesConstPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
|
| |
| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| | Provide a pointer to the vector of indices that represents the input data. More...
|
| |
| virtual void | setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
| | Set the indices for the points laying within an interest region of the point cloud. More...
|
| |
| IndicesPtr | getIndices () |
| | Get a pointer to the vector of indices used. More...
|
| |
| IndicesConstPtr const | getIndices () const |
| | Get a pointer to the vector of indices used. More...
|
| |
| const PointSource & | operator[] (std::size_t pos) const |
| | Override PointCloud operator[] to shorten code. More...
|
| |
|
| pcl::PointCloud< PointXYZLAB >::Ptr | cloud_lab_ |
| | Holds the converted (LAB) data cloud. More...
|
| |
| pcl::PointCloud< PointXYZLAB >::Ptr | target_lab_ |
| | Holds the converted (LAB) model cloud. More...
|
| |
| KdTreeFLANN< PointXYZLAB > | target_tree_lab_ |
| | 6d-tree to search in model cloud. More...
|
| |
| float | lab_weight_ |
| | The color weight. More...
|
| |
| MyPointRepresentation | point_rep_ |
| | Enables 6d searches with kd-tree class using the color weight. More...
|
| |
| int | k_correspondences_ |
| | The number of neighbors used for covariances computation. More...
|
| |
| double | gicp_epsilon_ |
| | The epsilon constant for gicp paper; this is NOT the convergence tolerance default: 0.001. More...
|
| |
| double | rotation_epsilon_ |
| | The epsilon constant for rotation error. More...
|
| |
| Matrix4 | base_transformation_ |
| | base transformation More...
|
| |
| const PointCloudSource * | tmp_src_ |
| | Temporary pointer to the source dataset. More...
|
| |
| const PointCloudTarget * | tmp_tgt_ |
| | Temporary pointer to the target dataset. More...
|
| |
| const pcl::Indices * | tmp_idx_src_ |
| | Temporary pointer to the source dataset indices. More...
|
| |
| const pcl::Indices * | tmp_idx_tgt_ |
| | Temporary pointer to the target dataset indices. More...
|
| |
| MatricesVectorPtr | input_covariances_ |
| | Input cloud points covariances. More...
|
| |
| MatricesVectorPtr | target_covariances_ |
| | Target cloud points covariances. More...
|
| |
| std::vector< Eigen::Matrix3d > | mahalanobis_ |
| | Mahalanobis matrices holder. More...
|
| |
| int | max_inner_iterations_ |
| | maximum number of optimizations More...
|
| |
| double | translation_gradient_tolerance_ |
| | minimal translation gradient for early optimization stop More...
|
| |
| double | rotation_gradient_tolerance_ |
| | minimal rotation gradient for early optimization stop More...
|
| |
| std::function< void(const pcl::PointCloud< PointXYZRGBA > &cloud_src, const pcl::Indices &src_indices, const pcl::PointCloud< PointXYZRGBA > &cloud_tgt, const pcl::Indices &tgt_indices, Matrix4 &transformation_matrix)> | rigid_transformation_estimation_ |
| |
| std::size_t | x_idx_offset_ |
| | XYZ fields offset. More...
|
| |
| std::size_t | y_idx_offset_ |
| |
| std::size_t | z_idx_offset_ |
| |
| std::size_t | nx_idx_offset_ |
| | Normal fields offset. More...
|
| |
| std::size_t | ny_idx_offset_ |
| |
| std::size_t | nz_idx_offset_ |
| |
| bool | use_reciprocal_correspondence_ |
| | The correspondence type used for correspondence estimation. More...
|
| |
| bool | source_has_normals_ |
| | Internal check whether source dataset has normals or not. More...
|
| |
| bool | target_has_normals_ |
| | Internal check whether target dataset has normals or not. More...
|
| |
| bool | need_source_blob_ |
| | Checks for whether estimators and rejectors need various data. More...
|
| |
| bool | need_target_blob_ |
| |
| std::string | reg_name_ |
| | The registration method name. More...
|
| |
| KdTreePtr | tree_ |
| | A pointer to the spatial search object. More...
|
| |
| KdTreeReciprocalPtr | tree_reciprocal_ |
| | A pointer to the spatial search object of the source. More...
|
| |
| int | nr_iterations_ {0} |
| | The number of iterations the internal optimization ran for (used internally). More...
|
| |
| int | max_iterations_ {10} |
| | The maximum number of iterations the internal optimization should run for. More...
|
| |
| int | ransac_iterations_ {0} |
| | The number of iterations RANSAC should run for. More...
|
| |
| PointCloudTargetConstPtr | target_ |
| | The input point cloud dataset target. More...
|
| |
| Matrix4 | final_transformation_ |
| | The final transformation matrix estimated by the registration method after N iterations. More...
|
| |
| Matrix4 | transformation_ |
| | The transformation matrix estimated by the registration method. More...
|
| |
| Matrix4 | previous_transformation_ |
| | The previous transformation matrix estimated by the registration method (used internally). More...
|
| |
| double | transformation_epsilon_ {0.0} |
| | The maximum difference between two consecutive transformations in order to consider convergence (user defined). More...
|
| |
| double | transformation_rotation_epsilon_ {0.0} |
| | The maximum rotation difference between two consecutive transformations in order to consider convergence (user defined). More...
|
| |
| double | euclidean_fitness_epsilon_ |
| | The maximum allowed Euclidean error between two consecutive steps in the ICP loop, before the algorithm is considered to have converged. More...
|
| |
| double | corr_dist_threshold_ |
| | The maximum distance threshold between two correspondent points in source <-> target. More...
|
| |
| double | inlier_threshold_ {0.05} |
| | The inlier distance threshold for the internal RANSAC outlier rejection loop. More...
|
| |
| bool | converged_ {false} |
| | Holds internal convergence state, given user parameters. More...
|
| |
| unsigned int | min_number_correspondences_ {3} |
| | The minimum number of correspondences that the algorithm needs before attempting to estimate the transformation. More...
|
| |
| CorrespondencesPtr | correspondences_ |
| | The set of correspondences determined at this ICP step. More...
|
| |
| TransformationEstimationPtr | transformation_estimation_ |
| | A TransformationEstimation object, used to calculate the 4x4 rigid transformation. More...
|
| |
| CorrespondenceEstimationPtr | correspondence_estimation_ |
| | A CorrespondenceEstimation object, used to estimate correspondences between the source and the target cloud. More...
|
| |
| std::vector< CorrespondenceRejectorPtr > | correspondence_rejectors_ |
| | The list of correspondence rejectors to use. More...
|
| |
| bool | target_cloud_updated_ {true} |
| | Variable that stores whether we have a new target cloud, meaning we need to pre-process it again. More...
|
| |
| bool | source_cloud_updated_ {true} |
| | Variable that stores whether we have a new source cloud, meaning we need to pre-process it again. More...
|
| |
| bool | force_no_recompute_ {false} |
| | A flag which, if set, means the tree operating on the target cloud will never be recomputed. More...
|
| |
| bool | force_no_recompute_reciprocal_ {false} |
| | A flag which, if set, means the tree operating on the source cloud will never be recomputed. More...
|
| |
| std::function< UpdateVisualizerCallbackSignature > | update_visualizer_ |
| | Callback function to update intermediate source point cloud position during it's registration to the target point cloud. More...
|
| |
| PointCloudConstPtr | input_ |
| | The input point cloud dataset. More...
|
| |
| IndicesPtr | indices_ |
| | A pointer to the vector of point indices to use. More...
|
| |
| bool | use_indices_ |
| | Set to true if point indices are used. More...
|
| |
| bool | fake_indices_ |
| | If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
|
| |
|
| using | PointCloudSource = pcl::PointCloud< PointXYZRGBA > |
| |
| using | PointCloudSourcePtr = typename PointCloudSource::Ptr |
| |
| using | PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
| |
| using | PointCloudTarget = pcl::PointCloud< PointXYZRGBA > |
| |
| using | PointCloudTargetPtr = typename PointCloudTarget::Ptr |
| |
| using | PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
| |
| using | PointIndicesPtr = PointIndices::Ptr |
| |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
| |
| using | MatricesVector = std::vector< Eigen::Matrix3d, Eigen::aligned_allocator< Eigen::Matrix3d > > |
| |
| using | MatricesVectorPtr = shared_ptr< MatricesVector > |
| |
| using | MatricesVectorConstPtr = shared_ptr< const MatricesVector > |
| |
| using | InputKdTree = typename Registration< PointXYZRGBA, PointXYZRGBA, float >::KdTree |
| |
| using | InputKdTreePtr = typename Registration< PointXYZRGBA, PointXYZRGBA, float >::KdTreePtr |
| |
| using | Ptr = shared_ptr< GeneralizedIterativeClosestPoint< PointXYZRGBA, PointXYZRGBA, float > > |
| |
| using | ConstPtr = shared_ptr< const GeneralizedIterativeClosestPoint< PointXYZRGBA, PointXYZRGBA, float > > |
| |
| using | Vector3 = typename Eigen::Matrix< float, 3, 1 > |
| |
| using | Vector4 = typename Eigen::Matrix< float, 4, 1 > |
| |
| using | Vector6d = Eigen::Matrix< double, 6, 1 > |
| |
| using | Matrix3 = typename Eigen::Matrix< float, 3, 3 > |
| |
| using | Matrix4 = typename IterativeClosestPoint< PointXYZRGBA, PointXYZRGBA, float >::Matrix4 |
| |
| using | Matrix6d = Eigen::Matrix< double, 6, 6 > |
| |
| using | AngleAxis = typename Eigen::AngleAxis< float > |
| |
| using | PointCloudSource = typename Registration< PointXYZRGBA, PointXYZRGBA, float >::PointCloudSource |
| |
| using | PointCloudSourcePtr = typename PointCloudSource::Ptr |
| |
| using | PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
| |
| using | PointCloudTarget = typename Registration< PointXYZRGBA, PointXYZRGBA, float >::PointCloudTarget |
| |
| using | PointCloudTargetPtr = typename PointCloudTarget::Ptr |
| |
| using | PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
| |
| using | PointIndicesPtr = PointIndices::Ptr |
| |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
| |
| using | Ptr = shared_ptr< IterativeClosestPoint< PointXYZRGBA, PointXYZRGBA, float > > |
| |
| using | ConstPtr = shared_ptr< const IterativeClosestPoint< PointXYZRGBA, PointXYZRGBA, float > > |
| |
| using | Matrix4 = typename Registration< PointXYZRGBA, PointXYZRGBA, float >::Matrix4 |
| |
| using | Matrix4 = Eigen::Matrix< Scalar, 4, 4 > |
| |
| using | Ptr = shared_ptr< Registration< PointSource, PointTarget, Scalar > > |
| |
| using | ConstPtr = shared_ptr< const Registration< PointSource, PointTarget, Scalar > > |
| |
| using | CorrespondenceRejectorPtr = pcl::registration::CorrespondenceRejector::Ptr |
| |
| using | KdTree = pcl::search::KdTree< PointTarget > |
| |
| using | KdTreePtr = typename KdTree::Ptr |
| |
| using | KdTreeReciprocal = pcl::search::KdTree< PointSource > |
| |
| using | KdTreeReciprocalPtr = typename KdTreeReciprocal::Ptr |
| |
| using | PointCloudSource = pcl::PointCloud< PointSource > |
| |
| using | PointCloudSourcePtr = typename PointCloudSource::Ptr |
| |
| using | PointCloudSourceConstPtr = typename PointCloudSource::ConstPtr |
| |
| using | PointCloudTarget = pcl::PointCloud< PointTarget > |
| |
| using | PointCloudTargetPtr = typename PointCloudTarget::Ptr |
| |
| using | PointCloudTargetConstPtr = typename PointCloudTarget::ConstPtr |
| |
| using | PointRepresentationConstPtr = typename KdTree::PointRepresentationConstPtr |
| |
| using | TransformationEstimation = typename pcl::registration::TransformationEstimation< PointSource, PointTarget, Scalar > |
| |
| using | TransformationEstimationPtr = typename TransformationEstimation::Ptr |
| |
| using | TransformationEstimationConstPtr = typename TransformationEstimation::ConstPtr |
| |
| using | CorrespondenceEstimation = pcl::registration::CorrespondenceEstimationBase< PointSource, PointTarget, Scalar > |
| |
| using | CorrespondenceEstimationPtr = typename CorrespondenceEstimation::Ptr |
| |
| using | CorrespondenceEstimationConstPtr = typename CorrespondenceEstimation::ConstPtr |
| |
| using | UpdateVisualizerCallbackSignature = void(const pcl::PointCloud< PointSource > &, const pcl::Indices &, const pcl::PointCloud< PointTarget > &, const pcl::Indices &) |
| | The callback signature to the function updating intermediate source point cloud position during it's registration to the target point cloud. More...
|
| |
| using | PointCloud = pcl::PointCloud< PointSource > |
| |
| using | PointCloudPtr = typename PointCloud::Ptr |
| |
| using | PointCloudConstPtr = typename PointCloud::ConstPtr |
| |
| using | PointIndicesPtr = PointIndices::Ptr |
| |
| using | PointIndicesConstPtr = PointIndices::ConstPtr |
| |
| pcl::registration::DefaultConvergenceCriteria< float >::Ptr | convergence_criteria_ |
| |
Inheritance diagram for pcl::GeneralizedIterativeClosestPoint6D:
