NormalDistributionsTransform2D provides an implementation of the Normal Distributions Transform algorithm for scan matching. More...

#include <ndt_2d.h>

Inheritance diagram for pcl::NormalDistributionsTransform2D< PointSource, PointTarget >:

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const NormalDistributionsTransform2D < PointSource, PointTarget > >	ConstPtr
typedef boost::shared_ptr < NormalDistributionsTransform2D < PointSource, PointTarget > >	Ptr
Public Member Functions
	NormalDistributionsTransform2D ()
	Empty constructor.
virtual void	setGridCentre (const Eigen::Vector2f &centre)
	centre of the ndt grid (target coordinate system)
virtual void	setGridExtent (const Eigen::Vector2f &extent)
	NDT Grid extent (in either direction from the grid centre)
virtual void	setGridStep (const Eigen::Vector2f &step)
	Grid spacing (step) of the NDT grid.
virtual void	setOptimizationStepSize (const double &lambda)
	NDT Newton optimisation step size parameter.
virtual void	setOptimizationStepSize (const Eigen::Vector3d &lambda)
	NDT Newton optimisation step size parameter.
virtual	~NormalDistributionsTransform2D ()
	Empty destructor.
Protected Member Functions
virtual void	computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess)
	Rigid transformation computation method with initial guess.
Protected Attributes
Eigen::Vector2f	grid_centre_
Eigen::Vector2f	grid_extent_
Eigen::Vector2f	grid_step_
Eigen::Vector3d	newton_lambda_
Private Types
typedef Registration < PointSource, PointTarget > ::PointCloudSource	PointCloudSource
typedef PointCloudSource::ConstPtr	PointCloudSourceConstPtr
typedef PointCloudSource::Ptr	PointCloudSourcePtr
typedef Registration < PointSource, PointTarget > ::PointCloudTarget	PointCloudTarget
typedef PointIndices::ConstPtr	PointIndicesConstPtr
typedef PointIndices::Ptr	PointIndicesPtr

Detailed Description

template<typename PointSource, typename PointTarget>
class pcl::NormalDistributionsTransform2D< PointSource, PointTarget >

NormalDistributionsTransform2D provides an implementation of the Normal Distributions Transform algorithm for scan matching.

This implementation is intended to match the definition: Peter Biber and Wolfgang Straßer. The normal distributions transform: A new approach to laser scan matching. In Proceedings of the IEEE In- ternational Conference on Intelligent Robots and Systems (IROS), pages 2743–2748, Las Vegas, USA, October 2003.

Author:: James Crosby

Definition at line 60 of file ndt_2d.h.

Member Typedef Documentation

template<typename PointSource, typename PointTarget>

typedef boost::shared_ptr< const NormalDistributionsTransform2D<PointSource, PointTarget> > pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::ConstPtr

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 74 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

typedef Registration<PointSource, PointTarget>::PointCloudSource pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::PointCloudSource [private]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 62 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudSource::ConstPtr pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::PointCloudSourceConstPtr [private]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 64 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

typedef PointCloudSource::Ptr pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::PointCloudSourcePtr [private]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 63 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

typedef Registration<PointSource, PointTarget>::PointCloudTarget pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::PointCloudTarget [private]

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 66 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

typedef PointIndices::ConstPtr pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::PointIndicesConstPtr [private]

Reimplemented from pcl::PCLBase< PointSource >.

Definition at line 69 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

typedef PointIndices::Ptr pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::PointIndicesPtr [private]

Reimplemented from pcl::PCLBase< PointSource >.

Definition at line 68 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

typedef boost::shared_ptr< NormalDistributionsTransform2D<PointSource, PointTarget> > pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::Ptr

Reimplemented from pcl::Registration< PointSource, PointTarget >.

Definition at line 73 of file ndt_2d.h.

Constructor & Destructor Documentation

template<typename PointSource, typename PointTarget>

pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::NormalDistributionsTransform2D ( ) [inline]

Empty constructor.

Definition at line 77 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

virtual pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::~NormalDistributionsTransform2D ( ) [inline, virtual]

Empty destructor.

Definition at line 85 of file ndt_2d.h.

Member Function Documentation

template<typename PointSource , typename PointTarget >

void pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::computeTransformation	(	PointCloudSource &	output,
		const Eigen::Matrix4f &	guess
	)		`[protected, virtual]`

Rigid transformation computation method with initial guess.

Parameters:

[out]	output	the transformed input point cloud dataset using the rigid transformation found
[in]	guess	the initial guess of the transformation to compute

Definition at line 376 of file ndt_2d.hpp.

template<typename PointSource, typename PointTarget>

virtual void pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::setGridCentre ( const Eigen::Vector2f & centre ) [inline, virtual]

centre of the ndt grid (target coordinate system)

Parameters:

centre value to set

Definition at line 91 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

virtual void pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::setGridExtent ( const Eigen::Vector2f & extent ) [inline, virtual]

NDT Grid extent (in either direction from the grid centre)

Parameters:

[in] extent value to set

Definition at line 103 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

virtual void pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::setGridStep ( const Eigen::Vector2f & step ) [inline, virtual]

Grid spacing (step) of the NDT grid.

Parameters:

[in] step value to set

Definition at line 97 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

virtual void pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::setOptimizationStepSize ( const double & lambda ) [inline, virtual]

NDT Newton optimisation step size parameter.

Parameters:

[in] lambda step size: 1 is simple newton optimisation, smaller values may improve convergence

Definition at line 109 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

virtual void pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::setOptimizationStepSize ( const Eigen::Vector3d & lambda ) [inline, virtual]

NDT Newton optimisation step size parameter.

Parameters:

[in] lambda step size: (1,1,1) is simple newton optimisation, smaller values may improve convergence, or elements may be set to zero to prevent optimisation over some parameters

This overload allows control of updates to the individual (x, y, theta) free parameters in the optimisation. If, for example, theta is believed to be close to the correct value a small value of lambda[2] should be used.

Definition at line 122 of file ndt_2d.h.

Member Data Documentation

template<typename PointSource, typename PointTarget>

Eigen::Vector2f pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::grid_centre_ [protected]

Definition at line 144 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Vector2f pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::grid_extent_ [protected]

Definition at line 146 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Vector2f pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::grid_step_ [protected]

Definition at line 145 of file ndt_2d.h.

template<typename PointSource, typename PointTarget>

Eigen::Vector3d pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::newton_lambda_ [protected]

Definition at line 147 of file ndt_2d.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Detailed Description

template<typename PointSource, typename PointTarget> class pcl::NormalDistributionsTransform2D< PointSource, PointTarget >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointSource, typename PointTarget>
class pcl::NormalDistributionsTransform2D< PointSource, PointTarget >