Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2022-09-21
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The point cloud common package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page pointcloudcommon Point Cloud Common

Package Overview

PointToPlaneICP

Performs point to plane ICP using the PCL library. Supports nonsymmetric and symmetric costs along with optional correspondence rejection when a symmetric cost is used. Also has options for downsampling the input point clouds and performing coarse to fine ICP.

PointCloudWithKnownCorrespondencesAligner

Performs nonliner optimization with a robust huber cost to align two sets of corresponding 3d points (point to point cost). This is useful when correspondences between two point clouds are known and do not need to be reestimated iteratively as is done in ICP, resulting in an often much faster aligment. Supports performing an initial guess using the Umeyama algorithm. Additionally supports using a point to plane or symmetric point to plane cost, requiring surface normals in addition to 3d correspondences as needed.

Utilities

Provides various utilities for point cloud operations such as normal estimation, downsampling, valid point filtering, covariance estimation, and more.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_common at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License, Version 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nasa/astrobee.git
VCS Type git
VCS Version master
Last Updated 2022-09-21
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The point cloud common package

Additional Links

No additional links.

Maintainers

  • Astrobee Flight Software

Authors

  • Astrobee Flight Software

\page pointcloudcommon Point Cloud Common

Package Overview

PointToPlaneICP

Performs point to plane ICP using the PCL library. Supports nonsymmetric and symmetric costs along with optional correspondence rejection when a symmetric cost is used. Also has options for downsampling the input point clouds and performing coarse to fine ICP.

PointCloudWithKnownCorrespondencesAligner

Performs nonliner optimization with a robust huber cost to align two sets of corresponding 3d points (point to point cost). This is useful when correspondences between two point clouds are known and do not need to be reestimated iteratively as is done in ICP, resulting in an often much faster aligment. Supports performing an initial guess using the Umeyama algorithm. Additionally supports using a point to plane or symmetric point to plane cost, requiring surface normals in addition to 3d correspondences as needed.

Utilities

Provides various utilities for point cloud operations such as normal estimation, downsampling, valid point filtering, covariance estimation, and more.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged point_cloud_common at answers.ros.org