# Architecture ## PCLBase * virtual void **setInputCloud** (const PointCloudConstPtr \&cloud); * virtual void **setIndices** (const IndicesConstPtr \&indices); * bool **initCompute** (); \[protected] * bool **deinitCompute** (); \[protected] ### Filter : public PCLBase * :: void removeNaNFromPointCloud (...) * inline void **filter** (PointCloud \&output) * virtual void **applyFilter** (PointCloud \&output) = 0; \[protected] #### VoxelGrid : public Filter ([voxel\_grid.h](https://pointclouds.org/documentation/classpcl_1_1_voxel_grid.html)) * inline void **setLeafSize** (float lx, float ly, float lz) / (const Eigen::Vector4f \&leaf\_size) * inline void setDownsampleAllData (bool downsample) * inline void setMinimumPointsNumberPerVoxel (unsigned int min\_points\_per\_voxel) * inline void setFilterLimits (const double \&limit\_min, const double \&limit\_max) * void **applyFilter** (PointCloud \&output); \[protected] ### Keypoint : public PCLBase * virtual void **setSearchSurface** (const PointCloudInConstPtr \&cloud) { surface\_ = cloud; } * inline void **setSearchMethod** (const KdTreePtr \&tree) { tree\_ = tree; } * inline void **setKSearch** (int k) { k\_ = k; } * inline void **setRadiusSearch** (double radius) { search\_radius\_ = radius; } * inline void **compute** (PointCloudOut \&output); * inline int searchForNeighbors (...) * virtual void **detectKeypoints** (PointCloudOut \&output) = 0; \[protected] #### HarrisKeypoint3D : public Keypoint ([harris\_3d.h](https://pointclouds.org/documentation/classpcl_1_1_harris_keypoint3_d.html)) * void setMethod (ResponseMethod type); * void setRadius (float radius); * void **setThreshold** (float threshold); * void **setNonMaxSupression** (bool = false); * inline void setNumberOfThreads (unsigned int nr\_threads = 0) { threads\_= nr\_threads; } * pcl::PointIndicesConstPtr **getKeypointsIndices** () { return (keypoints\_indices\_); } #### SIFTKeypoint : public Keypoint ([sift\_keypoint.h](https://pointclouds.org/documentation/classpcl_1_1_s_i_f_t_keypoint.html)) * void **setScales** (float min\_scale, int nr\_octaves, int nr\_scales\_per\_octave); * void **setMinimumContrast** (float min\_contrast); #### ISSKeypoint3D : public Keypoint ([iss\_3d.h](https://pointclouds.org/documentation/classpcl_1_1_i_s_s_keypoint3_d.html)) * void **setSalientRadius** (double salient\_radius) \[ref: 6 \* model\_resolution] * void **setNonMaxRadius** (double non\_max\_radius) \[ref: 4 \* model\_resolution] * void setNormalRadius (double normal\_radius) * void setBorderRadius (double border\_radius) * void **setMinNeighbors** (int min\_neighbors) \[ref: 5] * void setNormals (const PointCloudNConstPtr \&normals) * void setNumberOfThreads (unsigned int nr\_threads=0) * pcl::PointIndicesConstPtr **getKeypointsIndices** () { return (keypoints\_indices\_); } ### Feature : public PCLBase * inline void **setSearchSurface** (const PointCloudInConstPtr \&cloud) * inline void **setSearchMethod** (const KdTreePtr \&tree) { tree\_ = tree; } * inline void **setKSearch** (int k) { k\_ = k; } * inline void **setRadiusSearch** (double radius) * void **compute** (PointCloudOut \&output); * inline int searchForNeighbors(...) \[protected] * virtual void **computeFeature** (PointCloudOut \&output) = 0; \[private] #### NormalEstimation : public Feature ([normal\_3d.h](https://pointclouds.org/documentation/classpcl_1_1_normal_estimation.html)) * void **computeFeature** (PointCloudOut \&output); \[protected] #### FeatureFromNormals : public Feature * inline void **setInputNormals** (const PointCloudNConstPtr \&normals) { normals\_ = normals; } #### PFHEstimation : public FeatureFromNormals ([pfh.h](https://pointclouds.org/documentation/classpcl_1_1_p_f_h_estimation.html)) #### FPFHEstimation : public FeatureFromNormals ([fpfh.h](https://pointclouds.org/documentation/classpcl_1_1_f_p_f_h_estimation.html)) * void **computeFeature** (PointCloudOut \&output); \[protected] #### PFHRGBEstimation : public FeatureFromNormals ([pfhrgb.h](https://pointclouds.org/documentation/classpcl_1_1_p_f_h_r_g_b_estimation.html)) #### SHOTEstimation : public FeatureFromNormals, FeatureWithLocalReferenceFrames ([shot.h](https://pointclouds.org/documentation/classpcl_1_1_s_h_o_t_estimation.html)) #### SHOTColorEstimation : public FeatureFromNormals, FeatureWithLocalReferenceFrames ([shot.h](https://pointclouds.org/documentation/classpcl_1_1_s_h_o_t_color_estimation.html)) ### Registration : public PCLBase * void setTransformationEstimation (const TransformationEstimationPtr \&te) * void setCorrespondenceEstimation (const CorrespondenceEstimationPtr \&ce) * virtual void **setInputSource** (const PointCloudSourceConstPtr \&cloud) * virtual inline void **setInputTarget** (const PointCloudTargetConstPtr \&cloud) * inline void setSearchMethodSource (const KdTreeReciprocalPtr \&tree, bool force\_no\_recompute = ...) * inline void setSearchMethodTarget (const KdTreePtr \&tree, bool force\_no\_recompute = false) * inline Matrix4 **getFinalTransformation** () { return (final\_transformation\_); } * inline Matrix4 getLastIncrementalTransformation () { return (transformation\_); } * inline void **setMaxCorrespondenceDistance** (double distance\_threshold) \[ref: 0.05] * inline void **setMaximumIterations** (int nr\_iterations) \[termination criterion 1; ref: 50, 500] * inline void **setTransformationEpsilon** (double epsilon) \[termination criterion 2; ref: 1e-6, 1e-8] * inline void **setEuclideanFitnessEpsilon** (double epsilon) \[termination criterion 3; ref: 1] * inline void setRANSACIterations (int ransac\_iterations) * inline void setRANSACOutlierRejectionThreshold (double inlier\_threshold) * inline void **align** (PointCloudSource \&output); * inline void addCorrespondenceRejector (const CorrespondenceRejectorPtr \&rejector) * virtual void **computeTransformation** (PointCloudSource \&output, const Matrix4& guess) \[protected] * inline bool searchForNeighbors (const PointCloudSource &, int, std::vector &, std::vector &)\[protected] #### SampleConsensusInitialAlignment : public Registration ([ia\_ransac.h](https://pointclouds.org/documentation/classpcl_1_1_sample_consensus_initial_alignment.html)) * void **setSourceFeatures** (const FeatureCloudConstPtr \&features); * void **setTargetFeatures** (const FeatureCloudConstPtr \&features); * void **setMinSampleDistance** (float min\_sample\_distance) * void setNumberOfSamples (int nr\_samples) { nr\_samples\_ = nr\_samples; } * void setCorrespondenceRandomness (int k) { k\_correspondences\_ = k; } * void setErrorFunction (const boost::shared\_ptr\ & error\_functor) #### FPCSInitialAlignment : public Registration ([ia\_fpcs.h](https://pointclouds.org/documentation/classpcl_1_1registration_1_1_f_p_c_s_initial_alignment.html)) #### KFPCSInitialAlignment : public FPCSInitialAlignment ([ia\_kfpcs.h](https://pointclouds.org/documentation/classpcl_1_1registration_1_1_k_f_p_c_s_initial_alignment.html)) #### NormalDistributionsTransform : public Registration ([ndt.h](https://pointclouds.org/documentation/classpcl_1_1_normal_distributions_transform.html)) * inline void setResolution (float resolution) * inline void setStepSize (double step\_size) * inline void setOulierRatio (double outlier\_ratio) #### IterativeClosestPoint : public Registration ([icp.h](https://pointclouds.org/documentation/classpcl_1_1_iterative_closest_point.html)) * inline void setUseReciprocalCorrespondences (bool use\_reciprocal\_correspondence) * IterativeClosestPointWithNormals : public IterativeClosestPoint (icp.h) * IterativeClosestPointNonLinear : public IterativeClosestPoint (icp\_nl.h) #### GeneralizedIterativeClosestPoint : public IterativeClosestPoint ([gicp.h](https://pointclouds.org/documentation/classpcl_1_1_generalized_iterative_closest_point.html)) #### GeneralizedIterativeClosestPoint6D : public GeneralizedIterativeClosestPoint ([gicp6d.h](https://pointclouds.org/documentation/gicp6d_8h_source.html)) ### CorrespondenceEstimationBase : public PCLBase * inline void **setInput**Source (const PointCloudSourceConstPtr& cloud) * inline void setInputTarget (const PointCloudTargetConstPtr& cloud) * inline void **setIndices**Source (const IndicesPtr& indices) * inline void setIndicesTarget (const IndicesPtr& indices) * inline void **setSearchMethod**Source(const KdTreeReciprocalPtr& tree, bool force\_no\_recompute = ...) * inline void setSearchMethodTarget(const KdTreePtr& tree, bool force\_no\_recompute = false) * virtual void **determineCorrespondences**( pcl::Correspondences& correspondences, ...) = 0; * virtual void determineReciprocalCorrespondences( pcl::Correspondences& correspondences, ...) = 0; * inline void setPointRepresentation(const PointRepresentationConstPtr& point\_representation) #### CorrespondenceEstimation : public CorrespondenceEstimationBase （[corres\_est.h](https://pointclouds.org/documentation/classpcl_1_1registration_1_1_correspondence_estimation.html)） * void **determineCorrespondences** ( pcl::Correspondences& correspondences, ...) override; * void determineReciprocalCorrespondences( pcl::Correspondences& correspondences, ...) override; ## Registration::TransformationEstimation * virtual void **estimateRigidTransformation** (const pcl::PointCloud< PointSource > \&cloud\_src, const pcl::PointCloud< PointTarget > \&cloud\_tgt, Matrix4 \&transformation\_matrix) const =0 #### TransformationEstimationSVD : public TransformationEstimation * virtual void getTransformationFromCorrelation(...) const \[protected] #### TransformationEstimationLM : public TransformationEstimation ([trans\_est.h](https://pointclouds.org/documentation/classpcl_1_1registration_1_1_transformation_estimation_l_m.html)) * virtual MatScalar **computeDistance**(const Vector4& p\_src, const PointTarget& p\_tgt) \[protected] * struct OptimizationFunctor : public Functor \[protected] #### TransformationEstimationPointToPlane : public TransformationEstimationLM * Scalar computeDistance(const Vector4& p\_src, const PointTarget& p\_tgt) const override \[protected] ## Search * virtual void setSortedResults (bool sorted); * virtual void **setInputCloud** (const PointCloudConstPtr& cloud, const IndicesConstPtr \&indices = ...); * virtual int nearestKSearch (...) * virtual int **radiusSearch** (...) * void sortResults (std::vector& indices, std::vector& distances) const; \[protected] #### KdTree : public Search ([search/kdtree.h](https://pointclouds.org/documentation/classpcl_1_1search_1_1_kd_tree.html)) * template\ > * void setPointRepresentation (const PointRepresentationConstPtr \&point\_representation); * void setSortedResults (bool sorted\_results); * void **setInputCloud** (const PointCloudConstPtr& cloud, const IndicesConstPtr& indices = ...); * void setEpsilon (float eps); * int nearestKSearch (...) * int **radiusSearch** (...) ## Visualization ### PCLVisualizer ([visualizer](https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_p_c_l_visualizer.html)) * void setBackgroundColor (const double \&r, const double \&g, const double \&b, int viewport = 0); * void createViewPort (double xmin, double ymin, double xmax, double ymax, int \&viewport) * boost::signals2::connection **registerKeyboardCallback** (std::function...) * boost::signals2::connection **registerMouseCallback** (std::function...) * void initCameraParameters () * void setCameraParameters (const Eigen::Matrix3f \&intrinsics, const Eigen::Matrix4f \&extrinsics, int viewport=0) * void **setCameraPosition** (double pos\_x, double pos\_y, double pos\_z, double view\_x, double view\_y, double view\_z, double up\_x, double up\_y, double up\_z, int viewport=0) * bool setShapeRenderingProperties (int property, double value, const std::string \&id, int viewport=0) * bool **addPointCloud** (...) * bool addPointCloudNormals (...) * bool addPointCloudPrincipalCurvatures (...) * bool **addCorrespondences** (...) * bool addPolygonMesh (...) * bool addText (...) * bool addText3D (...) * bool wasStopped () const * void spinOnce (int time=1, bool force\_redraw=false) ### PointCloudColorHandler ([color\_handler](https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_point_cloud_color_handler.html)) * PointCloudColorHandler (const PointCloudConstPtr \&cloud) : cloud\_ (cloud), capable\_ (false), field\_idx\_ (-1), fields\_ () {} #### PointCloudColorHandlerCustom : public PointCloudColorHandler * PointCloudColorHandlerCustom (const PointCloudConstPtr \&cloud, double r, double g, double b) #### PointCloudColorHandlerRGBField : public PointCloudColorHandler #### PointCloudColorHandlerLabelField : public PointCloudColorHandler ### PointCloudGeometryHandler ([geometry\_handler](https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_point_cloud_geometry_handler.html)) #### PointCloudGeometryHandlerCustom : public PointCloudGeometryHandler * Custom handler class for PointCloud geometry. Given an input dataset and three user defined fields, all data present in them is extracted and displayed on screen as XYZ data. ### PCLHistogramVisualizer ([histogram\_visualizer](https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_p_c_l_histogram_visualizer.html)) * bool addFeatureHistogram (const pcl::PointCloud< PointT > \&cloud, int hsize, ...) ### PCLPlotter ([plotter](https://pointclouds.org/documentation/classpcl_1_1visualization_1_1_p_c_l_plotter.html)) * void addPlotData (double const \*array\_X, double const \*array\_Y, unsigned long size, ...) * void addHistogramData (std::vector< double > const \&data, int const nbins=10, ...) * bool addFeatureHistogram (const pcl::PointCloud< PointT > \&cloud, int hsize, ...) * void setBackgroundColor (const double r, const double g, const double b) * void plot () ## IO ### FileReader #### PCDReader : public FileReader ([pcd\_io.h](https://pointclouds.org/documentation/classpcl_1_1_p_c_d_reader.html)) * int loadPCDFile (const std::string \&file\_name, pcl::PointCloud< PointT > \&cloud) * {pcl::PCDReader p; return (p.read (file\_name, cloud));} #### PLYReader : public FileReader ([ply\_io.h](https://pointclouds.org/documentation/classpcl_1_1_p_l_y_reader.html)) * int loadPLYFile (const std::string \&file\_name, pcl::PointCloud< PointT > \&cloud)