mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE > Class Template Reference

#include <point_cloud_sampler_with_normal.h>

Inheritance diagram for mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >:

Public Member Functions
void	loadConfig (const ros::NodeHandle &nh)
	PointCloudSamplerWithNormal (const unsigned int random_seed=std::random_device()())
pcl::PointCloud< POINT_TYPE >::Ptr	sample (const typename pcl::PointCloud< POINT_TYPE >::ConstPtr &pc, const size_t num) const final
void	setParameters (const double perform_weighting_ratio, const double max_weight_ratio, const double max_weight, const double normal_search_range)
void	setParticleStatistics (const State6DOF &mean, const std::vector< State6DOF > &covariances)

Private Types
using	Matrix = Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic >
using	Vector = Eigen::Matrix< double, Eigen::Dynamic, 1 >

Private Attributes
Vector	eigen_values_
Matrix	eigen_vectors_
std::shared_ptr< std::default_random_engine >	engine_
double	max_weight_
double	max_weight_ratio_
State6DOF	mean_
double	normal_search_range_
double	perform_weighting_ratio_

Detailed Description

template<class POINT_TYPE>
class mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >

Definition at line 53 of file point_cloud_sampler_with_normal.h.

Member Typedef Documentation

template<class POINT_TYPE>

using mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::Matrix = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>

private

Definition at line 56 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

using mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::Vector = Eigen::Matrix<double, Eigen::Dynamic, 1>

private

Definition at line 57 of file point_cloud_sampler_with_normal.h.

Constructor & Destructor Documentation

template<class POINT_TYPE>

mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::PointCloudSamplerWithNormal ( const unsigned int  random_seed = std::random_device()() )

inlineexplicit

Definition at line 69 of file point_cloud_sampler_with_normal.h.

Member Function Documentation

template<class POINT_TYPE>

void mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::loadConfig ( const ros::NodeHandle &  nh )

inline

Definition at line 78 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

pcl::PointCloud<POINT_TYPE>::Ptr mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::sample ( const typename pcl::PointCloud< POINT_TYPE >::ConstPtr &  pc, const size_t  num  ) const

inlinefinalvirtual

Implements mcl_3dl::PointCloudRandomSampler< POINT_TYPE >.

Definition at line 112 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

void mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::setParameters ( const double  perform_weighting_ratio, const double  max_weight_ratio, const double  max_weight, const double  normal_search_range  )

inline

Definition at line 87 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

void mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::setParticleStatistics ( const State6DOF &  mean, const std::vector< State6DOF > &  covariances  )

inline

Definition at line 96 of file point_cloud_sampler_with_normal.h.

Member Data Documentation

template<class POINT_TYPE>

Vector mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::eigen_values_

private

Definition at line 62 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

Matrix mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::eigen_vectors_

private

Definition at line 61 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

std::shared_ptr<std::default_random_engine> mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::engine_

private

Definition at line 59 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

double mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::max_weight_

private

Definition at line 65 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

double mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::max_weight_ratio_

private

Definition at line 64 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

State6DOF mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::mean_

private

Definition at line 60 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

double mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::normal_search_range_

private

Definition at line 66 of file point_cloud_sampler_with_normal.h.

template<class POINT_TYPE>

double mcl_3dl::PointCloudSamplerWithNormal< POINT_TYPE >::perform_weighting_ratio_

private

Definition at line 63 of file point_cloud_sampler_with_normal.h.

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

• point_cloud_sampler_with_normal.h