lslgeneric::NDTMatcherD2D< PointSource, PointTarget > Class Template Reference

#include <ndt_matcher_d2d.h>

Inheritance diagram for lslgeneric::NDTMatcherD2D< PointSource, PointTarget >:

List of all members.

Classes
struct	MoreThuente
Public Member Functions
bool	covariance (pcl::PointCloud< PointTarget > &target, pcl::PointCloud< PointSource > &source, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, Eigen::MatrixXd &cov)
bool	covariance (NDTMap< PointTarget > &target, NDTMap< PointSource > &source, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, Eigen::MatrixXd &cov)
virtual double	derivativesNDT (const std::vector< NDTCell< PointSource > * > &source, const NDTMap< PointTarget > &target, Eigen::MatrixXd &score_gradient, Eigen::MatrixXd &Hessian, bool computeHessian)
bool	match (pcl::PointCloud< PointTarget > &target, pcl::PointCloud< PointSource > &source, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, bool useInitialGuess=false)
bool	match (NDTMap< PointTarget > &target, NDTMap< PointSource > &source, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, bool useInitialGuess=false)
	NDTMatcherD2D (bool _isIrregularGrid, bool useDefaultGridResolutions, std::vector< double > _resolutions)
	NDTMatcherD2D ()
	NDTMatcherD2D (const NDTMatcherD2D &other)
virtual double	scoreNDT (std::vector< NDTCell< PointSource > * > &source, NDTMap< PointTarget > &target)
virtual double	scoreNDT_OM (NDTMap< PointSource > &source, NDTMap< PointTarget > &target)
virtual double	scoreNDTPositive (std::vector< NDTCell< PointSource > * > &sourceNDT, NDTMap< PointTarget > &targetNDT, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T)
Public Attributes
double	current_resolution
double	DELTA_SCORE
	the change in score after which we converge. Set to 1e-3 in constructor
double	finalscore
int	ITR_MAX
	max iterations, set in constructor
bool	step_control
	sets step control on/off. set to true in constructor
Protected Member Functions
void	computeDerivatives (Eigen::Vector3d &m1, Eigen::Matrix3d C1, bool computeHessian=true)
void	computeDerivativesLocal (Eigen::Vector3d &m1, Eigen::Matrix3d C1, Eigen::Matrix< double, 3, 6 > &_Jest, Eigen::Matrix< double, 18, 6 > &_Hest, Eigen::Matrix< double, 3, 18 > &_Zest, Eigen::Matrix< double, 18, 18 > &_ZHest, bool computeHessian)
void	init (bool _isIrregularGrid, bool useDefaultGridResolutions, std::vector< double > _resolutions)
double	lineSearchMT (Eigen::Matrix< double, 6, 1 > &increment, std::vector< NDTCell< PointSource > * > &source, NDTMap< PointTarget > &target)
double	normalizeAngle (double a)
virtual bool	update_gradient_hessian (Eigen::MatrixXd &score_gradient, Eigen::MatrixXd &Hessian, const Eigen::Vector3d &m1, const Eigen::Matrix3d &C1, const double &likelihood, bool computeHessian)
virtual bool	update_gradient_hessian_local (Eigen::MatrixXd &score_gradient, Eigen::MatrixXd &Hessian, const Eigen::Vector3d &m1, const Eigen::Matrix3d &C1, const double &likelihood, const Eigen::Matrix< double, 3, 6 > &_Jest, const Eigen::Matrix< double, 18, 6 > &_Hest, const Eigen::Matrix< double, 3, 18 > &_Zest, const Eigen::Matrix< double, 18, 18 > &_ZHest, bool computeHessian)
Protected Attributes
Eigen::Matrix< double, 3, 3 >	dRdx
Eigen::Matrix< double, 3, 3 >	dRdxdx
Eigen::Matrix< double, 3, 3 >	dRdxdy
Eigen::Matrix< double, 3, 3 >	dRdxdz
Eigen::Matrix< double, 3, 3 >	dRdy
Eigen::Matrix< double, 3, 3 >	dRdydy
Eigen::Matrix< double, 3, 3 >	dRdydz
Eigen::Matrix< double, 3, 3 >	dRdz
Eigen::Matrix< double, 3, 3 >	dRdzdz
Eigen::Matrix< double, 18, 6 >	Hest
bool	isIrregularGrid
int	iteration_counter_internal
Eigen::Matrix< double, 3, 6 >	Jest
Eigen::Matrix< double, 6, 6 >	JtBJ
double	lfd1
double	lfd2
int	NUMBER_OF_ACTIVE_CELLS
int	NUMBER_OF_POINTS
Eigen::Matrix< double, 6, 1 >	Q
std::vector< double >	resolutions
Eigen::Matrix< double, 1, 3 >	TMP1
Eigen::Matrix< double, 1, 3 >	xtB
Eigen::Matrix< double, 6, 6 >	xtBH
Eigen::Matrix< double, 6, 1 >	xtBJ
Eigen::Matrix< double, 6, 6 >	xtBZBJ
Eigen::Matrix< double, 6, 1 >	xtBZBx
Eigen::Matrix< double, 6, 6 >	xtBZBZBx
Eigen::Matrix< double, 6, 6 >	xtBZhBx
Eigen::Matrix< double, 3, 18 >	Zest
Eigen::Matrix< double, 18, 18 >	ZHest

---

Detailed Description

template<typename PointSource, typename PointTarget>
class lslgeneric::NDTMatcherD2D< PointSource, PointTarget >

This class implements NDT registration for 3D point cloud scans.

Definition at line 53 of file ndt_matcher_d2d.h.

---

Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>

lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::NDTMatcherD2D	(	bool	_isIrregularGrid,
		bool	useDefaultGridResolutions,
		std::vector< double >	_resolutions
	)		[inline]

parametrized constructor. A default set is (false,false,true,empty_vector). parameters are:

Parameters:

_isIrregularGrid	--- experimental single pass through an irregular grid. also unstable
useDefaultGridResolutions	--- if set, the following parameter is set to a preset value
_resolutions	--- if previous bool is not set, these are the resolutions (in reverse order) that we will go through

Definition at line 62 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::NDTMatcherD2D

(

)

[inline]

Definition at line 67 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::NDTMatcherD2D

(

const NDTMatcherD2D< PointSource, PointTarget > &

other

)

[inline]

Definition at line 71 of file ndt_matcher_d2d.h.

---

Member Function Documentation

template<typename PointSource , typename PointTarget >

void lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::computeDerivatives	(	Eigen::Vector3d &	m1,
		Eigen::Matrix3d	C1,
		bool	computeHessian = true
	)		[protected]

Definition at line 1090 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

void lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::computeDerivativesLocal	(	Eigen::Vector3d &	m1,
		Eigen::Matrix3d	C1,
		Eigen::Matrix< double, 3, 6 > &	_Jest,
		Eigen::Matrix< double, 18, 6 > &	_Hest,
		Eigen::Matrix< double, 3, 18 > &	_Zest,
		Eigen::Matrix< double, 18, 18 > &	_ZHest,
		bool	computeHessian
	)		[protected]

Definition at line 993 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::covariance	(	pcl::PointCloud< PointTarget > &	target,
		pcl::PointCloud< PointSource > &	source,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T,
		Eigen::MatrixXd &	cov
	)

computes the covariance of the match between moving and fixed, at T. note --- computes NDT distributions based on the resolution in res result is returned in cov

Definition at line 2542 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::covariance	(	NDTMap< PointTarget > &	target,
		NDTMap< PointSource > &	source,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T,
		Eigen::MatrixXd &	cov
	)

computes the covariance of the match between moving and fixed, at T. result is returned in cov

Definition at line 2412 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::derivativesNDT	(	const std::vector< NDTCell< PointSource > * > &	source,
		const NDTMap< PointTarget > &	target,
		Eigen::MatrixXd &	score_gradient,
		Eigen::MatrixXd &	Hessian,
		bool	computeHessian
	)		[virtual]

Reimplemented in lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >.

Definition at line 1439 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

void lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::init	(	bool	_isIrregularGrid,
		bool	useDefaultGridResolutions,
		std::vector< double >	_resolutions
	)		[protected]

Definition at line 15 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::lineSearchMT	(	Eigen::Matrix< double, 6, 1 > &	increment,
		std::vector< NDTCell< PointSource > * > &	source,
		NDTMap< PointTarget > &	target
	)		[protected]

Definition at line 1680 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::match	(	pcl::PointCloud< PointTarget > &	target,
		pcl::PointCloud< PointSource > &	source,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T,
		bool	useInitialGuess = false
	)

Register two point clouds. This method builds an NDT representation of the "fixed" point cloud and uses that for registering the "moving" point cloud.

Parameters:

fixed	Reference data. NDT structure is built for this point cloud.
moving	The output transformation registers this point cloud to fixed.
T	This is an input/output parameter. The initial value of T gives the initial pose estimate of moving. When the algorithm terminates, T holds the registration result.

Definition at line 47 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::match	(	NDTMap< PointTarget > &	target,
		NDTMap< PointSource > &	source,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T,
		bool	useInitialGuess = false
	)

Registers a point cloud to an NDT structure.

Parameters:

fixed	Reference data.
moving	The output transformation registers this point cloud to fixed.
T	This is an input/output parameter. The initial value of T gives the initial pose estimate of moving. When the algorithm terminates, T holds the registration result.

Definition at line 269 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::normalizeAngle

(

double

a

)

[protected]

Definition at line 2248 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::scoreNDT	(	std::vector< NDTCell< PointSource > * > &	source,
		NDTMap< PointTarget > &	target
	)		[virtual]

Definition at line 1182 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::scoreNDT_OM	(	NDTMap< PointSource > &	source,
		NDTMap< PointTarget > &	target
	)		[virtual]

Definition at line 1243 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::scoreNDTPositive	(	std::vector< NDTCell< PointSource > * > &	sourceNDT,
		NDTMap< PointTarget > &	targetNDT,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T
	)		[virtual]

Added by Jari - Uses 1-p as a score instead of -p

Definition at line 1356 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::update_gradient_hessian	(	Eigen::MatrixXd &	score_gradient,
		Eigen::MatrixXd &	Hessian,
		const Eigen::Vector3d &	m1,
		const Eigen::Matrix3d &	C1,
		const double &	likelihood,
		bool	computeHessian
	)		[protected, virtual]

Definition at line 903 of file ndt_matcher_d2d.hpp.

template<typename PointSource , typename PointTarget >

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::update_gradient_hessian_local	(	Eigen::MatrixXd &	score_gradient,
		Eigen::MatrixXd &	Hessian,
		const Eigen::Vector3d &	m1,
		const Eigen::Matrix3d &	C1,
		const double &	likelihood,
		const Eigen::Matrix< double, 3, 6 > &	_Jest,
		const Eigen::Matrix< double, 18, 6 > &	_Hest,
		const Eigen::Matrix< double, 3, 18 > &	_Zest,
		const Eigen::Matrix< double, 18, 18 > &	_ZHest,
		bool	computeHessian
	)		[protected, virtual]

Definition at line 841 of file ndt_matcher_d2d.hpp.

---

Member Data Documentation

template<typename PointSource, typename PointTarget>

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::current_resolution

Definition at line 155 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::DELTA_SCORE

the change in score after which we converge. Set to 1e-3 in constructor

Definition at line 161 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdx [protected]

Definition at line 170 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdxdx [protected]

Definition at line 171 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdxdy [protected]

Definition at line 171 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdxdz [protected]

Definition at line 171 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdy [protected]

Definition at line 170 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdydy [protected]

Definition at line 171 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdydz [protected]

Definition at line 171 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdz [protected]

Definition at line 170 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::dRdzdz [protected]

Definition at line 171 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::finalscore

Definition at line 154 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,18,6> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::Hest [protected]

Definition at line 166 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::isIrregularGrid [protected]

Definition at line 177 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

int lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::iteration_counter_internal [protected]

Definition at line 175 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

int lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::ITR_MAX

max iterations, set in constructor

Definition at line 157 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,6> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::Jest [protected]

Definition at line 165 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,6> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::JtBJ [protected]

Definition at line 258 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::lfd1 [protected]

Definition at line 173 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

double lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::lfd2 [protected]

Definition at line 173 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

int lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::NUMBER_OF_ACTIVE_CELLS [protected]

Definition at line 252 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

int lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::NUMBER_OF_POINTS [protected]

Definition at line 237 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,1> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::Q [protected]

Definition at line 256 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

std::vector<double> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::resolutions [protected]

Definition at line 178 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

bool lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::step_control

sets step control on/off. set to true in constructor

Definition at line 159 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,1,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::TMP1 [protected]

Definition at line 259 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,1,3> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::xtB [protected]

Definition at line 259 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,6> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::xtBH [protected]

Definition at line 258 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,1> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::xtBJ [protected]

Definition at line 256 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,6> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::xtBZBJ [protected]

Definition at line 258 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,1> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::xtBZBx [protected]

Definition at line 256 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,6> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::xtBZBZBx [protected]

Definition at line 258 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,6,6> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::xtBZhBx [protected]

Definition at line 258 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,3,18> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::Zest [protected]

Definition at line 167 of file ndt_matcher_d2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double,18,18> lslgeneric::NDTMatcherD2D< PointSource, PointTarget >::ZHest [protected]

Definition at line 168 of file ndt_matcher_d2d.h.

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The documentation for this class was generated from the following files:

• ndt_matcher_d2d.h
• ndt_matcher_d2d.hpp