ndt_cell.h File Reference

#include <spatial_index.h>
#include <cell.h>
#include <impl/EventCounterData.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <vector>
#include <cstdio>
#include <Eigen/Eigen>
#include <fstream>
#include <impl/ndt_cell.hpp>

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Classes
class	lslgeneric::NDTCell< PointT >
	implements a normal distibution cell More...
Namespaces
namespace	lslgeneric
Defines
#define	CELL_UPDATE_MODE_COVARIANCE_INTERSECTION   0
#define	CELL_UPDATE_MODE_ERROR_REFINEMENT   2
	Yguel, Vasquez, Aycard, Siegward, Laugier, Error-Driven Refinement of Multi-scale gaussian maps.
#define	CELL_UPDATE_MODE_SAMPLE_VARIANCE   1
	Recursive Sample variance method [Chan, Gene, Randall, Updating Formulae and pairwise algorithm for computing sample variances, tech report Standford, 1979].
#define	CELL_UPDATE_MODE_SAMPLE_VARIANCE_SURFACE_ESTIMATION   3
	Estimate the surface (reduce the sensor noise)
#define	CELL_UPDATE_MODE_STUDENT_T   4
	Student-T.
#define	REFACTORED

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Define Documentation

#define CELL_UPDATE_MODE_COVARIANCE_INTERSECTION   0

A rather unsophisticated way of determining the update method for a cell Covariance intersection based on estimation

Definition at line 52 of file ndt_cell.h.

#define CELL_UPDATE_MODE_ERROR_REFINEMENT   2

Yguel, Vasquez, Aycard, Siegward, Laugier, Error-Driven Refinement of Multi-scale gaussian maps.

Definition at line 56 of file ndt_cell.h.

#define CELL_UPDATE_MODE_SAMPLE_VARIANCE   1

Recursive Sample variance method [Chan, Gene, Randall, Updating Formulae and pairwise algorithm for computing sample variances, tech report Standford, 1979].

Definition at line 54 of file ndt_cell.h.

#define CELL_UPDATE_MODE_SAMPLE_VARIANCE_SURFACE_ESTIMATION   3

Estimate the surface (reduce the sensor noise)

Definition at line 58 of file ndt_cell.h.

#define CELL_UPDATE_MODE_STUDENT_T   4

Student-T.

Definition at line 60 of file ndt_cell.h.

#define REFACTORED

Definition at line 62 of file ndt_cell.h.