Inheritance diagram for lslgeneric::NDTMatcherFeatureD2D:

Public Member Functions
bool	covariance (lslgeneric::NDTMap &target, lslgeneric::NDTMap &source, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, Eigen::Matrix< double, 6, 6 > &cov)
virtual double	derivativesNDT (const std::vector< NDTCell * > &sourceNDT, const NDTMap &targetNDT, Eigen::MatrixXd &score_gradient, Eigen::MatrixXd &Hessian, bool computeHessian)
	NDTMatcherFeatureD2D (const std::vector< std::pair< int, int > > &corr, double trimFactor=1.)
virtual double	scoreNDT (std::vector< lslgeneric::NDTCell * > &source, lslgeneric::NDTMap &target, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T)
Protected Attributes
const std::vector< std::pair < int, int > > &	_corr
std::vector< bool >	_goodCorr
double	_trimFactor

Detailed Description

This class implements NDT / NDT registration with a priory known correspondances.

Definition at line 44 of file ndt_matcher_d2d_feature.h.

Constructor & Destructor Documentation

lslgeneric::NDTMatcherFeatureD2D::NDTMatcherFeatureD2D	(	const std::vector< std::pair< int, int > > &	corr,
		double	trimFactor = `1.`
	)		`[inline]`

Definition at line 47 of file ndt_matcher_d2d_feature.h.

bool lslgeneric::NDTMatcherFeatureD2D::covariance	(	lslgeneric::NDTMap &	target,
		lslgeneric::NDTMap &	source,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T,
		Eigen::Matrix< double, 6, 6 > &	cov
	)

Registers a point cloud to an NDT structure.

Parameters:

target	Reference data.
source	The output transformation registers this point cloud to `target`.
T	This is an input/output parameter. The initial value of `T` gives the initial pose estimate of `source`. When the algorithm terminates, `T` holds the registration result. bool match( lslgeneric::NDTMap<PointTarget>& target, lslgeneric::NDTMap<PointSource>& source, Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor>& T); computes the covariance of the match between moving and fixed, at T. result is returned in cov

double lslgeneric::NDTMatcherFeatureD2D::derivativesNDT	(	const std::vector< NDTCell * > &	sourceNDT,
		const NDTMap &	targetNDT,
		Eigen::MatrixXd &	score_gradient,
		Eigen::MatrixXd &	Hessian,
		bool	computeHessian
	)		`[virtual]`

double lslgeneric::NDTMatcherFeatureD2D::scoreNDT	(	std::vector< lslgeneric::NDTCell * > &	source,
		lslgeneric::NDTMap &	target,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T
	)		`[virtual]`

const std::vector<std::pair<int, int> >& lslgeneric::NDTMatcherFeatureD2D::_corr [protected]

Definition at line 110 of file ndt_matcher_d2d_feature.h.

Definition at line 112 of file ndt_matcher_d2d_feature.h.

Definition at line 111 of file ndt_matcher_d2d_feature.h.

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