Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
lslgeneric::NDTHistogram< PointT > Class Template Reference

#include <ndt_histogram.h>

List of all members.

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]

Detailed Description

template<typename PointT>
class lslgeneric::NDTHistogram< PointT >

Definition at line 45 of file ndt_histogram.h.


Constructor & Destructor Documentation

template<typename PointT >
lslgeneric::NDTHistogram< PointT >::NDTHistogram ( )

Definition at line 8 of file ndt_histogram.hpp.

template<typename PointT >
lslgeneric::NDTHistogram< PointT >::NDTHistogram ( NDTMap< PointT > &  map)

Definition at line 71 of file ndt_histogram.hpp.

template<typename PointT >
lslgeneric::NDTHistogram< PointT >::NDTHistogram ( const NDTHistogram< PointT > &  other)

Definition at line 41 of file ndt_histogram.hpp.


Member Function Documentation

template<typename PointT >
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.

template<typename PointT >
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.

template<typename PointT >
void lslgeneric::NDTHistogram< PointT >::computeDirections ( ) [private]

Definition at line 108 of file ndt_histogram.hpp.

template<typename PointT >
void lslgeneric::NDTHistogram< PointT >::constructHistogram ( NDTMap< PointT > &  map) [private]

Definition at line 128 of file ndt_histogram.hpp.

template<typename PointT >
pcl::PointCloud< PointT > lslgeneric::NDTHistogram< PointT >::getDominantDirections ( int  nDirections)

Definition at line 268 of file ndt_histogram.hpp.

template<typename PointT >
double lslgeneric::NDTHistogram< PointT >::getSimilarity ( NDTHistogram< PointT > &  other)

Definition at line 648 of file ndt_histogram.hpp.

template<typename PointT >
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.

template<typename PointT>
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.

template<typename PointT >
void lslgeneric::NDTHistogram< PointT >::incrementFlatBin ( Eigen::Vector3d &  normal,
double  d 
) [private]

Definition at line 219 of file ndt_histogram.hpp.

template<typename PointT >
void lslgeneric::NDTHistogram< PointT >::incrementLineBin ( double  d) [private]

Definition at line 209 of file ndt_histogram.hpp.

template<typename PointT >
void lslgeneric::NDTHistogram< PointT >::incrementSphereBin ( double  d) [private]

Definition at line 247 of file ndt_histogram.hpp.

template<typename PointT >
void lslgeneric::NDTHistogram< PointT >::printHistogram ( bool  bMatlab = false)

Definition at line 574 of file ndt_histogram.hpp.


Member Data Documentation

template<typename PointT>
std::vector<Eigen::Vector3d,Eigen::aligned_allocator<Eigen::Vector3d> > lslgeneric::NDTHistogram< PointT >::averageDirections [private]

Definition at line 67 of file ndt_histogram.h.

template<typename PointT>
double lslgeneric::NDTHistogram< PointT >::D1 [private]

Definition at line 56 of file ndt_histogram.h.

template<typename PointT>
double lslgeneric::NDTHistogram< PointT >::D2 [private]

Definition at line 56 of file ndt_histogram.h.

template<typename PointT>
std::vector<Eigen::Vector3d,Eigen::aligned_allocator<Eigen::Vector3d> > lslgeneric::NDTHistogram< PointT >::directions

Definition at line 102 of file ndt_histogram.h.

template<typename PointT>
std::vector<int> lslgeneric::NDTHistogram< PointT >::dist_histogramBinsFlat[3] [private]

Definition at line 63 of file ndt_histogram.h.

template<typename PointT>
std::vector<int> lslgeneric::NDTHistogram< PointT >::dist_histogramBinsLine[3] [private]

Definition at line 64 of file ndt_histogram.h.

template<typename PointT>
std::vector<int> lslgeneric::NDTHistogram< PointT >::dist_histogramBinsSphere[3] [private]

Definition at line 65 of file ndt_histogram.h.

template<typename PointT>
std::vector<int> lslgeneric::NDTHistogram< PointT >::histogramBinsFlat [private]

Definition at line 49 of file ndt_histogram.h.

template<typename PointT>
std::vector<int> lslgeneric::NDTHistogram< PointT >::histogramBinsLine [private]

Definition at line 50 of file ndt_histogram.h.

template<typename PointT>
std::vector<int> lslgeneric::NDTHistogram< PointT >::histogramBinsSphere [private]

Definition at line 51 of file ndt_histogram.h.

template<typename PointT>
bool lslgeneric::NDTHistogram< PointT >::inited [private]

Definition at line 57 of file ndt_histogram.h.

template<typename PointT>
int lslgeneric::NDTHistogram< PointT >::N_FLAT_BINS [private]

Definition at line 54 of file ndt_histogram.h.

template<typename PointT>
int lslgeneric::NDTHistogram< PointT >::N_LINE_BINS [private]

Definition at line 53 of file ndt_histogram.h.

template<typename PointT>
int lslgeneric::NDTHistogram< PointT >::N_SPHERE_BINS [private]

Definition at line 55 of file ndt_histogram.h.

template<typename PointT>
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.

template<typename PointT>
double lslgeneric::NDTHistogram< PointT >::topThreeS[3] [private]

Definition at line 61 of file ndt_histogram.h.


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


ndt_map
Author(s): Todor Stoyanov, Jari Saarinen, Henrik Andreasson
autogenerated on Mon Jan 6 2014 11:31:57