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)

• 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)

• 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)

• void setScales (float min_scale, int nr_octaves, int nr_scales_per_octave);

• void setMinimumContrast (float min_contrast);

ISSKeypoint3D : public Keypoint (iss_3d.h)

• 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)

• void computeFeature (PointCloudOut &output); [protected]

FeatureFromNormals : public Feature

• inline void setInputNormals (const PointCloudNConstPtr &normals) { normals_ = normals; }

PFHEstimation : public FeatureFromNormals (pfh.h)

FPFHEstimation : public FeatureFromNormals (fpfh.h)

• void computeFeature (PointCloudOut &output); [protected]

PFHRGBEstimation : public FeatureFromNormals (pfhrgb.h)

SHOTEstimation : public FeatureFromNormals, FeatureWithLocalReferenceFrames (shot.h)

SHOTColorEstimation : public FeatureFromNormals, FeatureWithLocalReferenceFrames (shot.h)

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)

• 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<ErrorFunctor> & error_functor)

FPCSInitialAlignment : public Registration (ia_fpcs.h)

KFPCSInitialAlignment : public FPCSInitialAlignment (ia_kfpcs.h)

NormalDistributionsTransform : public Registration (ndt.h)

• inline void setResolution (float resolution)

• inline void setStepSize (double step_size)

• inline void setOulierRatio (double outlier_ratio)

IterativeClosestPoint : public Registration (icp.h)

• inline void setUseReciprocalCorrespondences (bool use_reciprocal_correspondence)

• IterativeClosestPointWithNormals : public IterativeClosestPoint (icp.h)

• IterativeClosestPointNonLinear : public IterativeClosestPoint (icp_nl.h)

GeneralizedIterativeClosestPoint : public IterativeClosestPoint (gicp.h)

GeneralizedIterativeClosestPoint6D : public GeneralizedIterativeClosestPoint (gicp6d.h)

CorrespondenceEstimationBase : public PCLBase

• inline void setInputSource (const PointCloudSourceConstPtr& cloud)

• inline void setInputTarget (const PointCloudTargetConstPtr& cloud)

• inline void setIndicesSource (const IndicesPtr& indices)

• inline void setIndicesTarget (const IndicesPtr& indices)

• inline void setSearchMethodSource(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）

• 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)

• 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)

• template<typename PointT, class Tree = pcl::KdTreeFLANN<PointT> >

• 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)

• 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)

• 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)

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)

• bool addFeatureHistogram (const pcl::PointCloud< PointT > &cloud, int hsize, ...)

PCLPlotter (plotter)

• 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)

• 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)

• int loadPLYFile (const std::string &file_name, pcl::PointCloud< PointT > &cloud)