Public Member Functions | Protected Attributes
lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget > Class Template Reference

#include <ndt_matcher_d2d_feature.h>

Inheritance diagram for lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >:
Inheritance graph
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List of all members.

Public Member Functions

bool covariance (lslgeneric::NDTMap< PointTarget > &target, lslgeneric::NDTMap< PointSource > &source, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, Eigen::Matrix< double, 6, 6 > &cov)
virtual double derivativesNDT (const std::vector< NDTCell< PointSource > * > &sourceNDT, const NDTMap< PointTarget > &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< PointSource > * > &source, lslgeneric::NDTMap< PointTarget > &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

template<typename PointSource, typename PointTarget>
class lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >

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

Definition at line 45 of file ndt_matcher_d2d_feature.h.


Constructor & Destructor Documentation

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

Definition at line 48 of file ndt_matcher_d2d_feature.h.


Member Function Documentation

template<typename PointSource , typename PointTarget >
bool lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >::covariance ( lslgeneric::NDTMap< PointTarget > &  target,
lslgeneric::NDTMap< PointSource > &  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:
targetReference data.
sourceThe output transformation registers this point cloud to target.
TThis 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

Definition at line 258 of file ndt_matcher_d2d_feature.hpp.

template<typename PointSource , typename PointTarget >
double lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >::derivativesNDT ( const std::vector< NDTCell< PointSource > * > &  sourceNDT,
const NDTMap< PointTarget > &  targetNDT,
Eigen::MatrixXd &  score_gradient,
Eigen::MatrixXd &  Hessian,
bool  computeHessian 
) [virtual]
template<typename PointSource, typename PointTarget>
double lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >::scoreNDT ( std::vector< lslgeneric::NDTCell< PointSource > * > &  source,
lslgeneric::NDTMap< PointTarget > &  target,
Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &  T 
) [virtual]

Definition at line 269 of file ndt_matcher_d2d_feature.hpp.


Member Data Documentation

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

Definition at line 111 of file ndt_matcher_d2d_feature.h.

template<typename PointSource, typename PointTarget>
std::vector<bool> lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >::_goodCorr [protected]

Definition at line 113 of file ndt_matcher_d2d_feature.h.

template<typename PointSource, typename PointTarget>
double lslgeneric::NDTMatcherFeatureD2D< PointSource, PointTarget >::_trimFactor [protected]

Definition at line 112 of file ndt_matcher_d2d_feature.h.


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


ndt_registration
Author(s): Todor Stoyanov, Jari Saarinen, Henrik Andreasson
autogenerated on Mon Jan 6 2014 11:32:03