PCL Developers blog

PCL Tutorials

This is a list of all features available in the PCL and whether or not each one currently has a tutorial made for it.

Completed

Features

  • FPFHEstimation - done
  • NormalEstimation - done
  • PFHEstimation - done
  • VFHEstimation - done

Filter - done

IO

  • PCDReader - done
  • PCDWriter - done
  • concatenateFields - done
  • concatenatePointCloud - done

Octree

  • OctreePointCloudChangeDetector - done

Range_Image

  • RangeImage - done

Segmentation

  • EuclidianClusterExtraction - done
  • SACSegmentation - done
  • SACSegmentationFromNormals - done

Surface

  • ConcaveHull - done
  • ConvexHull - done
  • MovingLeastSquares - done
  • GreedyProjectionTriangulation - done

Visualization

  • CloudViewer - done
  • PCLVisualizer - done

Modules

Common

  • Classes

    • BivariatePolynomialT
    • NdConcatenateFunctor
    • PCA
    • PiecewizeLinearFunction
    • PointCorrespondence
    • PointCorrespondence3d
    • PointCorrespondence6d
    • PolynomialCalculationsT
    • PosesFromMatches
    • ScopeTime
    • TimeTrigger
    • TransformationFromCorrespondences
    • VectorAverage
    • PointXYZ
    • PointXYZI
    • PointXYZRGBA
    • PointXYZRGB
    • PointXY
    • InterestPoint
    • Normal
    • PointNormal
    • PointXYZRGBNormal
    • PointXYZINormal
    • PointWithRange
    • PointWithViewpoint
    • MomentInvariants
    • PrincipalRadiiRSD
    • Boundary
    • PrincipalCurvatures
    • PFHSignature125
    • FPFHSignature33
    • VFHSignature305
    • Narf36
    • BorderDescription
    • IntensityGradient
    • Histogram
    • PointWithScale
    • PointSurfel
    • cuda::ScopeTimeCPU

Features

  • Classes

    • BoundaryEstimation
    • CVFHEstimation
    • Feature
    • FPFHEstimationOMP
    • IntegralImage2D
    • IntegralGradientEsitmation
    • IntensitySpinEstimation
    • MovementInvariantsEstimation
    • Narf
    • NarfDescriptor
    • NormalEstimationOMP
    • PrincipalCurvaturesEstimation
    • RangeImageBoarderExtractor
    • RIFTEstimation
    • RSDEstimation
  • Functions

    • solvePlaneParameters
    • computerPointNormal
    • flipNormalTowardsViewpoint
    • computePairFeatures
    • computerRSD

IO

  • getFieldIndex
  • getFields
  • getFieldsList
  • getFieldSize
  • getFieldType
  • copyPointCloud
  • getPointCloudAsEigen
  • getEigenAsPointCloud
  • loadPCDFile
  • savePCDFile
  • savePCDFileASCII
  • savePCDFileBinary
  • saveVTKFile

KDTree

  • Classes

    • KdTree
    • KdTreeFLANN
    • OrganizedDataIndex
  • Functions

    • initTree

Keypoints

  • Classes

    • Keypoint
    • NarfKeypoint
    • SIFTKeypoint
  • Functions

    • operator<<

Octree

  • Classes

    • Octree2BufBase
    • OctreeBase
    • OctreeLowMemBase
    • OctreePointCloud
    • OctreePointCloudDensity
    • OctreePointCloudOccupancy
    • OctreePointCloudVector
    • OctreePointCloudSinglePoint
    • OctreePointCloudVoxelCentroid

Range_Image

  • Classes

    • RangeImagePlanar

Registration

  • Classes

    • CorrespondenceEstimation
    • CorrespondenceRejector
    • CorrespondenceRejectorDistance
    • CorrespondenceRejectorOneToOne
    • CorrespondenceRejectorReciprocal
    • CorrespondenceRejectorSampleConsensus
    • CorrespondenceRejectorTrimmed
    • sortCorrespondencesByQueryIndex
    • sortCorrepsondencesByMatchIndex
    • sortCorrepsondencesByDistance
    • sortCorrepsondencesByQueryIndexAndDistance
    • sortCorrepsondencesByMatchIndexAndDistance
    • SampleConsensusInitialAlignment
    • IterativeClosestPointNonLinear
    • Registration
    • registration::TransformationEstimation
    • registration::TransformationEstimationSVD
  • Functions

    • transformPointCloud
    • transformPointCloudWithNormals

Segmentation

  • Classes

    • ExtractPolygonalPrimsData
    • SegmentDifferences
  • Functions

    • ExtractEuclidianClusters
    • comparePointClusters
    • isPointIn2DPolygon
    • isXYPointIn2dXYPolygon
    • getPointCloudDifference

Surface

  • Classes

    • GridProjection
    • SurfaceReconstruction
  • Functions

    • comparePoints2D
    • isVisible

Visualization

  • Classes

    • PCLHistogramVisualizer
    • PCLVisualizerInteractorStyle
    • PointCloudGeometryHandler
    • PointCloudGeometryHandlerXYZ
    • PointCloudGeometryHandlerSurfaceNormal
    • PointCloudGeometryHandlerCustom
    • PointCloudGeometryHandlerRandom
    • PointCloudGeometryHandlerRGBField
    • PointCloudGeometryHandlerGenericField
  • Function

    • getCorrespondingPointCloud
    • savePointData
    • createPolygon
    • createLine
    • createPlane
    • create2DCircle
    • createCone