|
addCorrespondenceRejector(const CorrespondenceRejectorPtr &rejector) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
align(PointCloudSource &output) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
align(PointCloudSource &output, const Matrix4 &guess) |
pcl::Registration< PointSource, PointTarget > |
inline |
| angular_hessian_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
| angular_jacobian_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
auxilaryFunction_dPsiMT(double g_a, double g_0, double mu=1.e-4) const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlineprotected
|
|
auxilaryFunction_PsiMT(double a, double f_a, double f_0, double g_0, double mu=1.e-4) const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlineprotected
|
|
clearCorrespondenceRejectors() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
computeAngleDerivatives(const Eigen::Matrix< double, 6, 1 > &transform, bool compute_hessian=true) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
computeDerivatives(Eigen::Matrix< double, 6, 1 > &score_gradient, Eigen::Matrix< double, 6, 6 > &hessian, const PointCloudSource &trans_cloud, const Eigen::Matrix< double, 6, 1 > &transform, bool compute_hessian=true) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
computeHessian(Eigen::Matrix< double, 6, 6 > &hessian, const PointCloudSource &trans_cloud) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
computeHessian(Eigen::Matrix< double, 6, 6 > &hessian, const PointCloudSource &trans_cloud, const Eigen::Matrix< double, 6, 1 > &transform) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlineprotected
|
|
computePointDerivatives(const Eigen::Vector3d &x, bool compute_hessian=true) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
computeStepLengthMT(const Eigen::Matrix< double, 6, 1 > &transform, Eigen::Matrix< double, 6, 1 > &step_dir, double step_init, double step_max, double step_min, double &score, Eigen::Matrix< double, 6, 1 > &score_gradient, Eigen::Matrix< double, 6, 6 > &hessian, PointCloudSource &trans_cloud) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
computeTransformation(PointCloudSource &output) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlineprotectedvirtual
|
|
computeTransformation(PointCloudSource &output, const Eigen::Matrix4f &guess) override |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
Registration< PointSource, PointTarget >::computeTransformation(PointCloudSource &output, const Matrix4 &guess)=0 |
pcl::Registration< PointSource, PointTarget > |
protectedpure virtual
|
|
ConstPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
|
| converged_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
convertTransform(const Eigen::Matrix< double, 6, 1 > &x, Eigen::Affine3f &trans) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlinestatic
|
|
convertTransform(const Eigen::Matrix< double, 6, 1 > &x, Eigen::Matrix4f &trans) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlinestatic
|
| corr_dist_threshold_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| correspondence_estimation_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| correspondence_rejectors_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
CorrespondenceEstimation typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
CorrespondenceEstimationConstPtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
CorrespondenceEstimationPtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
CorrespondenceRejectorPtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
| correspondences_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
deinitCompute() |
pcl::PCLBase< PointSource > |
protected |
| euclidean_fitness_epsilon_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| fake_indices_ |
pcl::PCLBase< PointSource > |
protected |
| final_transformation_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| force_no_recompute_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| force_no_recompute_reciprocal_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| gauss_d1_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
| gauss_d2_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
getClassName() const |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getCorrespondenceRejectors() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getEuclideanFitnessEpsilon() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getFinalNumIteration() const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
getFinalTransformation() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getFitnessScore(double max_range=std::numeric_limits< double >::max()) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getFitnessScore(const std::vector< float > &distances_a, const std::vector< float > &distances_b) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getIndices() |
pcl::PCLBase< PointSource > |
inline |
|
getIndices() const |
pcl::PCLBase< PointSource > |
inline |
|
getInputCloud() const |
pcl::PCLBase< PointSource > |
inline |
|
getInputSource() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getInputTarget() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getLastIncrementalTransformation() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getMaxCorrespondenceDistance() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getMaximumIterations() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getOulierRatio() const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
getRANSACIterations() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getRANSACOutlierRejectionThreshold() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getResolution() const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
getSearchMethodSource() const |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getSearchMethodTarget() const |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getStepSize() const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
getTransformationEpsilon() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
getTransformationLikelihood() const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
getTransformationProbability() const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
getTransformationRotationEpsilon() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
hasConverged() const |
pcl::Registration< PointSource, PointTarget > |
inline |
| indices_ |
pcl::PCLBase< PointSource > |
protected |
|
init() |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlineprotected
|
|
initCompute() |
pcl::Registration< PointSource, PointTarget > |
|
|
initComputeReciprocal() |
pcl::Registration< PointSource, PointTarget > |
|
| inlier_threshold_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| input_ |
pcl::PCLBase< PointSource > |
protected |
|
KdTree typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
KdTreePtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
KdTreeReciprocal typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
KdTreeReciprocalPtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
Matrix4 typedef |
pcl::Registration< PointSource, PointTarget > |
|
| max_iterations_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| min_number_correspondences_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
NormalDistributionsTransform() |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
|
| nr_iterations_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
operator[](std::size_t pos) const |
pcl::PCLBase< PointSource > |
inline |
| outlier_ratio_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PCLBase() |
pcl::PCLBase< PointSource > |
|
|
PCLBase(const PCLBase &base) |
pcl::PCLBase< PointSource > |
|
| point_hessian_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
| point_jacobian_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointCloud typedef |
pcl::PCLBase< PointSource > |
|
|
PointCloudConstPtr typedef |
pcl::PCLBase< PointSource > |
|
|
PointCloudPtr typedef |
pcl::PCLBase< PointSource > |
|
|
PointCloudSource typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointCloudSourceConstPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointCloudSourcePtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointCloudTarget typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointCloudTargetConstPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointCloudTargetPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointIndicesConstPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointIndicesPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
PointRepresentationConstPtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
| previous_transformation_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
Ptr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
|
| ransac_iterations_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| reg_name_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
registerVisualizationCallback(std::function< UpdateVisualizerCallbackSignature > &visualizerCallback) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
Registration() |
pcl::Registration< PointSource, PointTarget > |
inline |
|
removeCorrespondenceRejector(unsigned int i) |
pcl::Registration< PointSource, PointTarget > |
inline |
| resolution_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
searchForNeighbors(const PointCloudSource &cloud, int index, pcl::Indices &indices, std::vector< float > &distances) |
pcl::Registration< PointSource, PointTarget > |
inlineprotected
|
|
setCorrespondenceEstimation(const CorrespondenceEstimationPtr &ce) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setEuclideanFitnessEpsilon(double epsilon) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setIndices(const IndicesPtr &indices) |
pcl::PCLBase< PointSource > |
virtual |
|
setIndices(const IndicesConstPtr &indices) |
pcl::PCLBase< PointSource > |
virtual |
|
setIndices(const PointIndicesConstPtr &indices) |
pcl::PCLBase< PointSource > |
virtual |
|
setIndices(std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols) |
pcl::PCLBase< PointSource > |
virtual |
|
PCLBase< PointSource >::setInputCloud(const PointCloudConstPtr &cloud) |
pcl::PCLBase< PointSource > |
virtual |
|
setInputSource(const PointCloudSourceConstPtr &cloud) |
pcl::Registration< PointSource, PointTarget > |
inlinevirtual
|
|
setInputTarget(const PointCloudTargetConstPtr &cloud) override |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inlinevirtual
|
|
setMaxCorrespondenceDistance(double distance_threshold) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setMaximumIterations(int nr_iterations) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setOulierRatio(double outlier_ratio) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
setPointRepresentation(const PointRepresentationConstPtr &point_representation) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setRANSACIterations(int ransac_iterations) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setRANSACOutlierRejectionThreshold(double inlier_threshold) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setResolution(float resolution) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
setSearchMethodSource(const KdTreeReciprocalPtr &tree, bool force_no_recompute=false) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setSearchMethodTarget(const KdTreePtr &tree, bool force_no_recompute=false) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setStepSize(double step_size) |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
setTransformationEpsilon(double epsilon) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setTransformationEstimation(const TransformationEstimationPtr &te) |
pcl::Registration< PointSource, PointTarget > |
inline |
|
setTransformationRotationEpsilon(double epsilon) |
pcl::Registration< PointSource, PointTarget > |
inline |
| source_cloud_updated_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| step_size_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
| target_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| target_cells_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
| target_cloud_updated_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
TargetGrid typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
TargetGridConstPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
TargetGridLeafConstPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
TargetGridPtr typedef |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
| trans_likelihood_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
|
| trans_probability_ |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
|
| transformation_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| transformation_epsilon_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| transformation_estimation_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| transformation_rotation_epsilon_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
TransformationEstimation typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
TransformationEstimationConstPtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
|
TransformationEstimationPtr typedef |
pcl::Registration< PointSource, PointTarget > |
|
| tree_ |
pcl::Registration< PointSource, PointTarget > |
protected |
| tree_reciprocal_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
trialValueSelectionMT(double a_l, double f_l, double g_l, double a_u, double f_u, double g_u, double a_t, double f_t, double g_t) const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
| update_visualizer_ |
pcl::Registration< PointSource, PointTarget > |
protected |
|
updateDerivatives(Eigen::Matrix< double, 6, 1 > &score_gradient, Eigen::Matrix< double, 6, 6 > &hessian, const Eigen::Vector3d &x_trans, const Eigen::Matrix3d &c_inv, bool compute_hessian=true) const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
updateHessian(Eigen::Matrix< double, 6, 6 > &hessian, const Eigen::Vector3d &x_trans, const Eigen::Matrix3d &c_inv) const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
updateIntervalMT(double &a_l, double &f_l, double &g_l, double &a_u, double &f_u, double &g_u, double a_t, double f_t, double g_t) const |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
protected |
|
UpdateVisualizerCallbackSignature typedef |
pcl::Registration< PointSource, PointTarget > |
|
| use_indices_ |
pcl::PCLBase< PointSource > |
protected |
|
~NormalDistributionsTransform() |
pcl::NormalDistributionsTransform< PointSource, PointTarget > |
inline |
|
~PCLBase()=default |
pcl::PCLBase< PointSource > |
virtual |
|
~Registration() |
pcl::Registration< PointSource, PointTarget > |
inline |