#include <ndt_histogram.h>
Public Member Functions | |
void | bestFitToHistogram (NDTHistogram< PointT > &target, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, bool bound_transform=true) |
pcl::PointCloud< PointT > | getDominantDirections (int nDirections) |
double | getSimilarity (NDTHistogram< PointT > &other) |
double | getSimilarity (NDTHistogram< PointT > &other, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T) |
double | getTransform (size_t FIT_NUMBER, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T) |
NDTHistogram () | |
NDTHistogram (NDTMap< PointT > &map) | |
NDTHistogram (const NDTHistogram< PointT > &other) | |
void | printHistogram (bool bMatlab=false) |
Public Attributes | |
std::vector< Eigen::Vector3d, Eigen::aligned_allocator < Eigen::Vector3d > > | directions |
Private Member Functions | |
void | closedFormSolution (pcl::PointCloud< PointT > &src, pcl::PointCloud< PointT > &trgt, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T) |
void | computeDirections () |
void | constructHistogram (NDTMap< PointT > &map) |
void | incrementFlatBin (Eigen::Vector3d &normal, double d) |
void | incrementLineBin (double d) |
void | incrementSphereBin (double d) |
Private Attributes | |
std::vector< Eigen::Vector3d, Eigen::aligned_allocator < Eigen::Vector3d > > | averageDirections |
double | D1 |
double | D2 |
std::vector< int > | dist_histogramBinsFlat [3] |
std::vector< int > | dist_histogramBinsLine [3] |
std::vector< int > | dist_histogramBinsSphere [3] |
std::vector< int > | histogramBinsFlat |
std::vector< int > | histogramBinsLine |
std::vector< int > | histogramBinsSphere |
bool | inited |
int | N_FLAT_BINS |
int | N_LINE_BINS |
int | N_SPHERE_BINS |
std::vector< Eigen::Transform < double, 3, Eigen::Affine, Eigen::ColMajor > , Eigen::aligned_allocator < Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > > > | topThree |
double | topThreeS [3] |
Definition at line 45 of file ndt_histogram.h.
lslgeneric::NDTHistogram< PointT >::NDTHistogram | ( | ) |
Definition at line 8 of file ndt_histogram.hpp.
lslgeneric::NDTHistogram< PointT >::NDTHistogram | ( | NDTMap< PointT > & | map | ) |
Definition at line 71 of file ndt_histogram.hpp.
lslgeneric::NDTHistogram< PointT >::NDTHistogram | ( | const NDTHistogram< PointT > & | other | ) |
Definition at line 41 of file ndt_histogram.hpp.
void lslgeneric::NDTHistogram< PointT >::bestFitToHistogram | ( | NDTHistogram< PointT > & | target, |
Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > & | T, | ||
bool | bound_transform = true |
||
) |
Definition at line 327 of file ndt_histogram.hpp.
void lslgeneric::NDTHistogram< PointT >::closedFormSolution | ( | pcl::PointCloud< PointT > & | src, |
pcl::PointCloud< PointT > & | trgt, | ||
Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > & | T | ||
) | [private] |
Definition at line 530 of file ndt_histogram.hpp.
void lslgeneric::NDTHistogram< PointT >::computeDirections | ( | ) | [private] |
Definition at line 108 of file ndt_histogram.hpp.
void lslgeneric::NDTHistogram< PointT >::constructHistogram | ( | NDTMap< PointT > & | map | ) | [private] |
Definition at line 128 of file ndt_histogram.hpp.
pcl::PointCloud< PointT > lslgeneric::NDTHistogram< PointT >::getDominantDirections | ( | int | nDirections | ) |
Definition at line 268 of file ndt_histogram.hpp.
double lslgeneric::NDTHistogram< PointT >::getSimilarity | ( | NDTHistogram< PointT > & | other | ) |
Definition at line 648 of file ndt_histogram.hpp.
double lslgeneric::NDTHistogram< PointT >::getSimilarity | ( | NDTHistogram< PointT > & | other, |
Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > & | T | ||
) |
Definition at line 659 of file ndt_histogram.hpp.
double lslgeneric::NDTHistogram< PointT >::getTransform | ( | size_t | FIT_NUMBER, |
Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > & | T | ||
) | [inline] |
Definition at line 86 of file ndt_histogram.h.
void lslgeneric::NDTHistogram< PointT >::incrementFlatBin | ( | Eigen::Vector3d & | normal, |
double | d | ||
) | [private] |
Definition at line 219 of file ndt_histogram.hpp.
void lslgeneric::NDTHistogram< PointT >::incrementLineBin | ( | double | d | ) | [private] |
Definition at line 209 of file ndt_histogram.hpp.
void lslgeneric::NDTHistogram< PointT >::incrementSphereBin | ( | double | d | ) | [private] |
Definition at line 247 of file ndt_histogram.hpp.
void lslgeneric::NDTHistogram< PointT >::printHistogram | ( | bool | bMatlab = false | ) |
Definition at line 574 of file ndt_histogram.hpp.
std::vector<Eigen::Vector3d,Eigen::aligned_allocator<Eigen::Vector3d> > lslgeneric::NDTHistogram< PointT >::averageDirections [private] |
Definition at line 67 of file ndt_histogram.h.
double lslgeneric::NDTHistogram< PointT >::D1 [private] |
Definition at line 56 of file ndt_histogram.h.
double lslgeneric::NDTHistogram< PointT >::D2 [private] |
Definition at line 56 of file ndt_histogram.h.
std::vector<Eigen::Vector3d,Eigen::aligned_allocator<Eigen::Vector3d> > lslgeneric::NDTHistogram< PointT >::directions |
Definition at line 102 of file ndt_histogram.h.
std::vector<int> lslgeneric::NDTHistogram< PointT >::dist_histogramBinsFlat[3] [private] |
Definition at line 63 of file ndt_histogram.h.
std::vector<int> lslgeneric::NDTHistogram< PointT >::dist_histogramBinsLine[3] [private] |
Definition at line 64 of file ndt_histogram.h.
std::vector<int> lslgeneric::NDTHistogram< PointT >::dist_histogramBinsSphere[3] [private] |
Definition at line 65 of file ndt_histogram.h.
std::vector<int> lslgeneric::NDTHistogram< PointT >::histogramBinsFlat [private] |
Definition at line 49 of file ndt_histogram.h.
std::vector<int> lslgeneric::NDTHistogram< PointT >::histogramBinsLine [private] |
Definition at line 50 of file ndt_histogram.h.
std::vector<int> lslgeneric::NDTHistogram< PointT >::histogramBinsSphere [private] |
Definition at line 51 of file ndt_histogram.h.
bool lslgeneric::NDTHistogram< PointT >::inited [private] |
Definition at line 57 of file ndt_histogram.h.
int lslgeneric::NDTHistogram< PointT >::N_FLAT_BINS [private] |
Definition at line 54 of file ndt_histogram.h.
int lslgeneric::NDTHistogram< PointT >::N_LINE_BINS [private] |
Definition at line 53 of file ndt_histogram.h.
int lslgeneric::NDTHistogram< PointT >::N_SPHERE_BINS [private] |
Definition at line 55 of file ndt_histogram.h.
std::vector< Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor>, Eigen::aligned_allocator<Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> > > lslgeneric::NDTHistogram< PointT >::topThree [private] |
Definition at line 60 of file ndt_histogram.h.
double lslgeneric::NDTHistogram< PointT >::topThreeS[3] [private] |
Definition at line 61 of file ndt_histogram.h.