Classes
struct	ICPCorrespondences

class	PointCloudWithKnownCorrespondencesAligner

struct	PointCloudWithKnownCorrespondencesAlignerParams

class	PointToPlaneICP

struct	PointToPlaneICPParams

Functions
void	LoadPointToPlaneICPParams (config_reader::ConfigReader &config, PointToPlaneICPParams &params)

void	LoadPointCloudWithKnownCorrespondencesAlignerParams (config_reader::ConfigReader &config, PointCloudWithKnownCorrespondencesAlignerParams &params)

std::vector< Eigen::Vector3d >	RandomPoints (const int num_points)

std::vector< Eigen::Vector3d >	PlanePoints (const Eigen::Vector3d &point, const Eigen::Vector3d &width_vec, const Eigen::Vector3d &height_vec, const double width, const double height, const int num_width_points, const double num_height_points)

std::pair< std::vector< Eigen::Vector3d >, std::vector< Eigen::Vector3d > >	RandomPointsWithNormals (const int num_points)

std::pair< std::vector< Eigen::Vector3d >, std::vector< Eigen::Vector3d > >	CubicPoints ()

pcl::PointXYZ	PCLPoint (const Eigen::Vector3d &point)

pcl::PointNormal	PCLPointNormal (const Eigen::Vector3d &point, const Eigen::Vector3d &normal)

template<typename PointType >
pcl::PointCloud< PointType >::Ptr	PointCloud (const std::vector< Eigen::Vector3d > &points)

pcl::PointCloud< pcl::PointNormal >::Ptr	PointCloudWithNormals (const std::vector< Eigen::Vector3d > &points, const std::vector< Eigen::Vector3d > &normals)

PointToPlaneICPParams	DefaultPointToPlaneICPParams ()

PointCloudWithKnownCorrespondencesAlignerParams	DefaultPointCloudWithKnownCorrespondencesAlignerParams ()

template<typename PointType , typename PointWithNormalType >
void	EstimateNormals (const typename pcl::PointCloud< PointType >::Ptr cloud, const double search_radius, pcl::PointCloud< PointWithNormalType > &cloud_with_normals)

template<typename PointType , typename PointWithNormalType >
void	EstimateOrganizedNormals (const typename pcl::PointCloud< PointType >::Ptr cloud, const typename pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >::NormalEstimationMethod method, const bool depth_dependent_smoothing, const double max_depth_change_factor, const double normal_smoothing_size, pcl::PointCloud< PointWithNormalType > &cloud_with_normals)

template<typename PointType >
void	NormalSpaceSubsampling (typename pcl::PointCloud< PointType >::Ptr cloud, const int bins_per_axis, const int num_samples)

Eigen::Matrix4f	RansacIA (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr source_cloud, const pcl::PointCloud< pcl::PointXYZINormal >::Ptr target_cloud)

pcl::PointCloud< pcl::FPFHSignature33 >::Ptr	EstimateHistogramFeatures (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr cloud_with_normals)

Eigen::Matrix< double, 1, 6 >	PointToPlaneJacobian (const gtsam::Point3 &source_point, const gtsam::Vector3 &normal, const gtsam::Pose3 &target_T_source)

Eigen::Matrix< double, 3, 6 >	PointToPointJacobian (const gtsam::Point3 &source_point, const gtsam::Pose3 &target_T_source)

Eigen::Isometry3d	RelativeTransformUmeyama (const std::vector< Eigen::Vector3d > &source_points, const std::vector< Eigen::Vector3d > &target_points)

template<typename PointType >
boost::optional< Eigen::Vector3d >	GetNormal (const Eigen::Vector3d &point, const pcl::PointCloud< PointType > &cloud, const pcl::search::KdTree< PointType > &kdtree, const double search_radius=0.03)

template<typename PointType >
bool	computePointNormal (const pcl::PointCloud< PointType > &cloud, const std::vector< int > &indices, float &normal_x, float &normal_y, float &normal_z, float &curvature)

boost::optional< Eigen::Matrix< double, 6, 6 > >	PointToPointCovariance (const std::vector< Eigen::Vector3d > &source_points, const Eigen::Isometry3d &target_T_source)

boost::optional< Eigen::Matrix< double, 6, 6 > >	PointToPlaneCovariance (const std::vector< Eigen::Vector3d > &source_points, const std::vector< Eigen::Vector3d > &target_normals, const Eigen::Isometry3d &target_T_source)

template<typename PointType >
Eigen::Vector3d	Vector3d (const PointType &point)

template<typename PointType >
Eigen::Vector3d	NormalVector3d (const PointType &point_with_normal)

pcl::PointXYZI	Interpolate (const pcl::PointXYZI &point_a, const pcl::PointXYZI &point_b, const double alpha)

template<typename PointType >
bool	ValidPoint (const PointType &point)=delete

template<>
bool	ValidPoint< pcl::PointXYZ > (const pcl::PointXYZ &point)

template<>
bool	ValidPoint< pcl::PointXYZI > (const pcl::PointXYZI &point)

template<>
bool	ValidPoint< pcl::PointNormal > (const pcl::PointNormal &point)

template<>
bool	ValidPoint< pcl::PointXYZINormal > (const pcl::PointXYZINormal &point)

template<typename Type >
bool	ApproxZero (const Type &point, const double epsilon=1e-5)

template<typename PointXYZType >
bool	NonzeroPointXYZ (const PointXYZType &point)

template<typename PointXYZType >
bool	ValidPointXYZ (const PointXYZType &point)

template<typename PointNormalType >
bool	ValidNormal (const PointNormalType &point)

template<typename PointIntensityType >
bool	ValidIntensity (const PointIntensityType &point)

template<typename PointType >
void	RemoveInvalidAndZeroPoints (pcl::PointCloud< PointType > &cloud)

template<typename PointType >
void	ReplaceZerosWithNans (typename pcl::PointCloud< PointType > &cloud)

template<typename PointType >
pcl::PointCloud< PointType >::Ptr	DownsamplePointCloud (const typename pcl::PointCloud< PointType >::Ptr cloud, const double leaf_size)

template<typename PointType >
pcl::PointCloud< PointType >::Ptr	BilateralFilterOrganizedCloud (const typename pcl::PointCloud< PointType >::Ptr cloud, const double sigma_s, const double sigma_r)

template<typename PointType >
void	FilterCorrespondences (const typename pcl::PointCloud< PointType > &input_cloud, const typename pcl::PointCloud< PointType > &target_cloud, pcl::Correspondences &correspondences)

template<typename PointType >
pcl::PointCloud< PointType >::Ptr	FilteredPointCloud (const typename pcl::PointCloud< PointType >::Ptr unfiltered_cloud)

template<typename PointType , typename PointWithNormalType >
pcl::PointCloud< PointWithNormalType >::Ptr	FilteredPointCloudWithNormals (const typename pcl::PointCloud< PointType >::Ptr unfiltered_cloud, const double search_radius)

Function Documentation

◆ ApproxZero()

template<typename Type >

bool point_cloud_common::ApproxZero	(	const Type &	point,
		const double	epsilon = `1e-5`
	)

◆ BilateralFilterOrganizedCloud()

template<typename PointType >

pcl::PointCloud< PointType >::Ptr point_cloud_common::BilateralFilterOrganizedCloud	(	const typename pcl::PointCloud< PointType >::Ptr	cloud,
		const double	sigma_s,
		const double	sigma_r
	)

◆ computePointNormal()

template<typename PointType >

bool point_cloud_common::computePointNormal	(	const pcl::PointCloud< PointType > &	cloud,
		const std::vector< int > &	indices,
		float &	normal_x,
		float &	normal_y,
		float &	normal_z,
		float &	curvature
	)

Placeholder for the 3x3 covariance matrix at each surface patch.

16-bytes aligned placeholder for the XYZ centroid of a surface patch.

Placeholder for the 3x3 covariance matrix at each surface patch.

16-bytes aligned placeholder for the XYZ centroid of a surface patch.

◆ CubicPoints()

std::pair< std::vector< Eigen::Vector3d >, std::vector< Eigen::Vector3d > > point_cloud_common::CubicPoints ( )

◆ DefaultPointCloudWithKnownCorrespondencesAlignerParams()

PointCloudWithKnownCorrespondencesAlignerParams point_cloud_common::DefaultPointCloudWithKnownCorrespondencesAlignerParams ( )

◆ DefaultPointToPlaneICPParams()

PointToPlaneICPParams point_cloud_common::DefaultPointToPlaneICPParams ( )

◆ DownsamplePointCloud()

template<typename PointType >

pcl::PointCloud< PointType >::Ptr point_cloud_common::DownsamplePointCloud	(	const typename pcl::PointCloud< PointType >::Ptr	cloud,
		const double	leaf_size
	)

◆ EstimateHistogramFeatures()

pcl::PointCloud< pcl::FPFHSignature33 >::Ptr point_cloud_common::EstimateHistogramFeatures ( const pcl::PointCloud< pcl::PointXYZINormal >::Ptr cloud_with_normals )

◆ EstimateNormals()

template<typename PointType , typename PointWithNormalType >

void point_cloud_common::EstimateNormals	(	const typename pcl::PointCloud< PointType >::Ptr	cloud,
		const double	search_radius,
		pcl::PointCloud< PointWithNormalType > &	cloud_with_normals
	)

◆ EstimateOrganizedNormals()

template<typename PointType , typename PointWithNormalType >

void point_cloud_common::EstimateOrganizedNormals	(	const typename pcl::PointCloud< PointType >::Ptr	cloud,
		const typename pcl::IntegralImageNormalEstimation< PointType, pcl::Normal >::NormalEstimationMethod	method,
		const bool	depth_dependent_smoothing,
		const double	max_depth_change_factor,
		const double	normal_smoothing_size,
		pcl::PointCloud< PointWithNormalType > &	cloud_with_normals
	)

◆ FilterCorrespondences()

template<typename PointType >

void point_cloud_common::FilterCorrespondences	(	const typename pcl::PointCloud< PointType > &	input_cloud,
		const typename pcl::PointCloud< PointType > &	target_cloud,
		pcl::Correspondences &	correspondences
	)

◆ FilteredPointCloud()

template<typename PointType >

pcl::PointCloud< PointType >::Ptr point_cloud_common::FilteredPointCloud ( const typename pcl::PointCloud< PointType >::Ptr unfiltered_cloud )

◆ FilteredPointCloudWithNormals()

template<typename PointType , typename PointWithNormalType >

pcl::PointCloud< PointWithNormalType >::Ptr point_cloud_common::FilteredPointCloudWithNormals	(	const typename pcl::PointCloud< PointType >::Ptr	unfiltered_cloud,
		const double	search_radius
	)

◆ GetNormal()

template<typename PointType >

boost::optional< Eigen::Vector3d > point_cloud_common::GetNormal	(	const Eigen::Vector3d &	point,
		const pcl::PointCloud< PointType > &	cloud,
		const pcl::search::KdTree< PointType > &	kdtree,
		const double	search_radius = `0.03`
	)

◆ Interpolate()

pcl::PointXYZI point_cloud_common::Interpolate	(	const pcl::PointXYZI &	point_a,
		const pcl::PointXYZI &	point_b,
		const double	alpha
	)

◆ LoadPointCloudWithKnownCorrespondencesAlignerParams()

void point_cloud_common::LoadPointCloudWithKnownCorrespondencesAlignerParams	(	config_reader::ConfigReader &	config,
		PointCloudWithKnownCorrespondencesAlignerParams &	params
	)

◆ LoadPointToPlaneICPParams()

void point_cloud_common::LoadPointToPlaneICPParams	(	config_reader::ConfigReader &	config,
		PointToPlaneICPParams &	params
	)

◆ NonzeroPointXYZ()

template<typename PointXYZType >

bool point_cloud_common::NonzeroPointXYZ ( const PointXYZType & point )

◆ NormalSpaceSubsampling()

template<typename PointType >

void point_cloud_common::NormalSpaceSubsampling	(	typename pcl::PointCloud< PointType >::Ptr	cloud,
		const int	bins_per_axis,
		const int	num_samples
	)

◆ NormalVector3d()

template<typename PointType >

Eigen::Vector3d point_cloud_common::NormalVector3d ( const PointType & point_with_normal )

◆ PCLPoint()

pcl::PointXYZ point_cloud_common::PCLPoint ( const Eigen::Vector3d & point )

◆ PCLPointNormal()

pcl::PointNormal point_cloud_common::PCLPointNormal	(	const Eigen::Vector3d &	point,
		const Eigen::Vector3d &	normal
	)

◆ PlanePoints()

std::vector< Eigen::Vector3d > point_cloud_common::PlanePoints	(	const Eigen::Vector3d &	point,
		const Eigen::Vector3d &	width_vec,
		const Eigen::Vector3d &	height_vec,
		const double	width,
		const double	height,
		const int	num_width_points,
		const double	num_height_points
	)

◆ PointCloud()

template<typename PointType >

pcl::PointCloud< PointType >::Ptr point_cloud_common::PointCloud ( const std::vector< Eigen::Vector3d > & points )

◆ PointCloudWithNormals()

pcl::PointCloud< pcl::PointNormal >::Ptr point_cloud_common::PointCloudWithNormals	(	const std::vector< Eigen::Vector3d > &	points,
		const std::vector< Eigen::Vector3d > &	normals
	)

◆ PointToPlaneCovariance()

boost::optional< Eigen::Matrix< double, 6, 6 > > point_cloud_common::PointToPlaneCovariance	(	const std::vector< Eigen::Vector3d > &	source_points,
		const std::vector< Eigen::Vector3d > &	target_normals,
		const Eigen::Isometry3d &	target_T_source
	)

◆ PointToPlaneJacobian()

Eigen::Matrix< double, 1, 6 > point_cloud_common::PointToPlaneJacobian	(	const gtsam::Point3 &	source_point,
		const gtsam::Vector3 &	normal,
		const gtsam::Pose3 &	target_T_source
	)

◆ PointToPointCovariance()

boost::optional< Eigen::Matrix< double, 6, 6 > > point_cloud_common::PointToPointCovariance	(	const std::vector< Eigen::Vector3d > &	source_points,
		const Eigen::Isometry3d &	target_T_source
	)

◆ PointToPointJacobian()

Eigen::Matrix< double, 3, 6 > point_cloud_common::PointToPointJacobian	(	const gtsam::Point3 &	source_point,
		const gtsam::Pose3 &	target_T_source
	)

◆ RandomPoints()

std::vector< Eigen::Vector3d > point_cloud_common::RandomPoints ( const int num_points )

◆ RandomPointsWithNormals()

std::pair< std::vector< Eigen::Vector3d >, std::vector< Eigen::Vector3d > > point_cloud_common::RandomPointsWithNormals ( const int num_points )

◆ RansacIA()

Eigen::Matrix4f point_cloud_common::RansacIA	(	const pcl::PointCloud< pcl::PointXYZINormal >::Ptr	source_cloud,
		const pcl::PointCloud< pcl::PointXYZINormal >::Ptr	target_cloud
	)

◆ RelativeTransformUmeyama()

Eigen::Isometry3d point_cloud_common::RelativeTransformUmeyama	(	const std::vector< Eigen::Vector3d > &	source_points,
		const std::vector< Eigen::Vector3d > &	target_points
	)

◆ RemoveInvalidAndZeroPoints()

template<typename PointType >

void point_cloud_common::RemoveInvalidAndZeroPoints ( pcl::PointCloud< PointType > & cloud )

◆ ReplaceZerosWithNans()

template<typename PointType >

void point_cloud_common::ReplaceZerosWithNans ( typename pcl::PointCloud< PointType > & cloud )

◆ ValidIntensity()

template<typename PointIntensityType >

bool point_cloud_common::ValidIntensity ( const PointIntensityType & point )

◆ ValidNormal()

template<typename PointNormalType >

bool point_cloud_common::ValidNormal ( const PointNormalType & point )

◆ ValidPoint()

template<typename PointType >

bool point_cloud_common::ValidPoint ( const PointType & point )

delete

◆ ValidPoint< pcl::PointNormal >()

template<>

bool point_cloud_common::ValidPoint< pcl::PointNormal > ( const pcl::PointNormal & point )

◆ ValidPoint< pcl::PointXYZ >()

template<>

bool point_cloud_common::ValidPoint< pcl::PointXYZ > ( const pcl::PointXYZ & point )

◆ ValidPoint< pcl::PointXYZI >()

template<>

bool point_cloud_common::ValidPoint< pcl::PointXYZI > ( const pcl::PointXYZI & point )

◆ ValidPoint< pcl::PointXYZINormal >()

template<>

bool point_cloud_common::ValidPoint< pcl::PointXYZINormal > ( const pcl::PointXYZINormal & point )

◆ ValidPointXYZ()

template<typename PointXYZType >

bool point_cloud_common::ValidPointXYZ ( const PointXYZType & point )

◆ Vector3d()

template<typename PointType >

Eigen::Vector3d point_cloud_common::Vector3d ( const PointType & point )

Classes

Functions

Function Documentation

◆ ApproxZero()

◆ BilateralFilterOrganizedCloud()

◆ computePointNormal()

◆ CubicPoints()

◆ DefaultPointCloudWithKnownCorrespondencesAlignerParams()

◆ DefaultPointToPlaneICPParams()

◆ DownsamplePointCloud()

◆ EstimateHistogramFeatures()

◆ EstimateNormals()

◆ EstimateOrganizedNormals()

◆ FilterCorrespondences()

◆ FilteredPointCloud()

◆ FilteredPointCloudWithNormals()

◆ GetNormal()

◆ Interpolate()

◆ LoadPointCloudWithKnownCorrespondencesAlignerParams()

◆ LoadPointToPlaneICPParams()

◆ NonzeroPointXYZ()

◆ NormalSpaceSubsampling()

◆ NormalVector3d()

◆ PCLPoint()

◆ PCLPointNormal()

◆ PlanePoints()

◆ PointCloud()

◆ PointCloudWithNormals()

◆ PointToPlaneCovariance()

◆ PointToPlaneJacobian()

◆ PointToPointCovariance()

◆ PointToPointJacobian()

◆ RandomPoints()

◆ RandomPointsWithNormals()

◆ RansacIA()

◆ RelativeTransformUmeyama()

◆ RemoveInvalidAndZeroPoints()

◆ ReplaceZerosWithNans()

◆ ValidIntensity()

◆ ValidNormal()

◆ ValidPoint()

◆ ValidPoint< pcl::PointNormal >()

◆ ValidPoint< pcl::PointXYZ >()

◆ ValidPoint< pcl::PointXYZI >()

◆ ValidPoint< pcl::PointXYZINormal >()

◆ ValidPointXYZ()

◆ Vector3d()