lslgeneric::NDTMatcherSequentialD2D< PointSource > Class Template Reference

#include <ndt_matcher_sequential_d2d.h>

List of all members.

Classes
struct	MoreThuente
Public Member Functions
bool	add_cloud (pcl::PointCloud< PointSource > &cloud, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &Tref)
virtual double	derivativesNDT (const std::vector< NDTCell< PointSource > * > &source, const std::vector< NDTCell< PointSource > * > &target, Eigen::MatrixXd &score_gradient, Eigen::MatrixXd &Hessian, bool computeHessian)
bool	match_all (Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T_correction, bool useInitialGuess=false)
	NDTMatcherSequentialD2D (double _resolution)
	NDTMatcherSequentialD2D ()
	NDTMatcherSequentialD2D (const NDTMatcherSequentialD2D &other)
Public Attributes
double	current_resolution
int	ITR_MAX
std::vector < lslgeneric::NDTMap < PointSource > *, Eigen::aligned_allocator < lslgeneric::NDTMap < PointSource > * > >	maps
std::vector< pcl::PointCloud < PointSource > , Eigen::aligned_allocator < pcl::PointCloud< PointSource > * > >	pcs
std::vector< Eigen::Transform < double, 3, Eigen::Affine, Eigen::ColMajor > , Eigen::aligned_allocator < Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > > >	transforms
Protected Member Functions
void	computeDerivativesLocal (Eigen::Vector3d &m1, Eigen::Matrix3d C1, Eigen::Matrix< double, 3, 6 > &_Jest, Eigen::Matrix< double, 18, 6 > &_Hest, Eigen::Matrix< double, 3, 18 > &_Zest, Eigen::Matrix< double, 18, 18 > &_ZHest, bool computeHessian)
double	lineSearchMT (Eigen::Matrix< double, 6, 1 > &increment, std::vector< NDTCell< PointSource > * > &source, std::vector< NDTCell< PointSource > * > &target)
double	normalizeAngle (double a)
virtual bool	update_gradient_hessian_local (Eigen::MatrixXd &score_gradient, Eigen::MatrixXd &Hessian, const Eigen::Vector3d &m1, const Eigen::Matrix3d &C1, const double &likelihood, const Eigen::Matrix< double, 3, 6 > &_Jest, const Eigen::Matrix< double, 18, 6 > &_Hest, const Eigen::Matrix< double, 3, 18 > &_Zest, const Eigen::Matrix< double, 18, 18 > &_ZHest, bool computeHessian)
Protected Attributes
int	iteration_counter_internal
double	lfd1
double	lfd2

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Detailed Description

template<typename PointSource>
class lslgeneric::NDTMatcherSequentialD2D< PointSource >

This class implements NDT registration of a sequence of 3D point clouds to a reference system.

Definition at line 57 of file ndt_matcher_sequential_d2d.h.

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Constructor & Destructor Documentation

template<typename PointSource >

lslgeneric::NDTMatcherSequentialD2D< PointSource >::NDTMatcherSequentialD2D

(

double

_resolution

)

[inline]

Definition at line 60 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

lslgeneric::NDTMatcherSequentialD2D< PointSource >::NDTMatcherSequentialD2D

(

)

[inline]

Definition at line 67 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

lslgeneric::NDTMatcherSequentialD2D< PointSource >::NDTMatcherSequentialD2D

(

const NDTMatcherSequentialD2D< PointSource > &

other

)

[inline]

Definition at line 74 of file ndt_matcher_sequential_d2d.h.

---

Member Function Documentation

template<typename PointSource >

bool lslgeneric::NDTMatcherSequentialD2D< PointSource >::add_cloud	(	pcl::PointCloud< PointSource > &	cloud,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	Tref
	)

Definition at line 120 of file ndt_matcher_sequential_d2d.hpp.

template<typename PointSource >

void lslgeneric::NDTMatcherSequentialD2D< PointSource >::computeDerivativesLocal	(	Eigen::Vector3d &	m1,
		Eigen::Matrix3d	C1,
		Eigen::Matrix< double, 3, 6 > &	_Jest,
		Eigen::Matrix< double, 18, 6 > &	_Hest,
		Eigen::Matrix< double, 3, 18 > &	_Zest,
		Eigen::Matrix< double, 18, 18 > &	_ZHest,
		bool	computeHessian
	)		[protected]

Definition at line 622 of file ndt_matcher_sequential_d2d.hpp.

template<typename PointSource >

double lslgeneric::NDTMatcherSequentialD2D< PointSource >::derivativesNDT	(	const std::vector< NDTCell< PointSource > * > &	source,
		const std::vector< NDTCell< PointSource > * > &	target,
		Eigen::MatrixXd &	score_gradient,
		Eigen::MatrixXd &	Hessian,
		bool	computeHessian
	)		[virtual]

Definition at line 721 of file ndt_matcher_sequential_d2d.hpp.

template<typename PointSource >

double lslgeneric::NDTMatcherSequentialD2D< PointSource >::lineSearchMT	(	Eigen::Matrix< double, 6, 1 > &	increment,
		std::vector< NDTCell< PointSource > * > &	source,
		std::vector< NDTCell< PointSource > * > &	target
	)		[protected]

Definition at line 895 of file ndt_matcher_sequential_d2d.hpp.

template<typename PointSource >

bool lslgeneric::NDTMatcherSequentialD2D< PointSource >::match_all	(	Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T_correction,
		bool	useInitialGuess = false
	)

Definition at line 134 of file ndt_matcher_sequential_d2d.hpp.

template<typename PointSource >

double lslgeneric::NDTMatcherSequentialD2D< PointSource >::normalizeAngle

(

double

a

)

[protected]

Definition at line 1463 of file ndt_matcher_sequential_d2d.hpp.

template<typename PointSource >

bool lslgeneric::NDTMatcherSequentialD2D< PointSource >::update_gradient_hessian_local	(	Eigen::MatrixXd &	score_gradient,
		Eigen::MatrixXd &	Hessian,
		const Eigen::Vector3d &	m1,
		const Eigen::Matrix3d &	C1,
		const double &	likelihood,
		const Eigen::Matrix< double, 3, 6 > &	_Jest,
		const Eigen::Matrix< double, 18, 6 > &	_Hest,
		const Eigen::Matrix< double, 3, 18 > &	_Zest,
		const Eigen::Matrix< double, 18, 18 > &	_ZHest,
		bool	computeHessian
	)		[protected, virtual]

Definition at line 559 of file ndt_matcher_sequential_d2d.hpp.

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Member Data Documentation

template<typename PointSource >

double lslgeneric::NDTMatcherSequentialD2D< PointSource >::current_resolution

Definition at line 97 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

int lslgeneric::NDTMatcherSequentialD2D< PointSource >::iteration_counter_internal [protected]

Definition at line 109 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

int lslgeneric::NDTMatcherSequentialD2D< PointSource >::ITR_MAX

Definition at line 98 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

double lslgeneric::NDTMatcherSequentialD2D< PointSource >::lfd1 [protected]

Definition at line 108 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

double lslgeneric::NDTMatcherSequentialD2D< PointSource >::lfd2 [protected]

Definition at line 108 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

std::vector<lslgeneric::NDTMap<PointSource>*, Eigen::aligned_allocator<lslgeneric::NDTMap<PointSource>* > > lslgeneric::NDTMatcherSequentialD2D< PointSource >::maps

Definition at line 103 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

std::vector<pcl::PointCloud<PointSource>, Eigen::aligned_allocator<pcl::PointCloud<PointSource>* > > lslgeneric::NDTMatcherSequentialD2D< PointSource >::pcs

Definition at line 105 of file ndt_matcher_sequential_d2d.h.

template<typename PointSource >

std::vector<Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor>, Eigen::aligned_allocator<Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> > > lslgeneric::NDTMatcherSequentialD2D< PointSource >::transforms

Definition at line 101 of file ndt_matcher_sequential_d2d.h.

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

• ndt_matcher_sequential_d2d.h
• ndt_matcher_sequential_d2d.hpp