pcl::ndt2d::NormalDist< PointT > Class Template Reference

A normal distribution estimation class. More...

#include <ndt_2d.hpp>

List of all members.

Public Member Functions
void	addIdx (size_t i)
	Store a point index to use later for estimating distribution parameters.
void	estimateParams (const PointCloud &cloud, double min_covar_eigvalue_mult=0.001)
	Estimate the normal distribution parameters given the point indices provided. Memory of point indices is cleared.
	NormalDist ()
ValueAndDerivatives< 3, double >	test (const PointT &transformed_pt, const double &cos_theta, const double &sin_theta) const
	Return the 'score' (denormalised likelihood) and derivatives of score of the point p given this distribution.
Protected Attributes
Eigen::Matrix2d	covar_inv_
Eigen::Vector2d	mean_
const size_t	min_n_
size_t	n_
std::vector< size_t >	pt_indices_
Private Types
typedef pcl::PointCloud< PointT >	PointCloud

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Detailed Description

template<typename PointT>
class pcl::ndt2d::NormalDist< PointT >

A normal distribution estimation class.

First the indices of of the points from a point cloud that should be modelled by the distribution are added with addIdx (...).

Then estimateParams (...) uses the stored point indices to estimate the parameters of a normal distribution, and discards the stored indices.

Finally the distriubution, and its derivatives, may be evaluated at any point using test (...).

Definition at line 96 of file ndt_2d.hpp.

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Member Typedef Documentation

template<typename PointT >

typedef pcl::PointCloud<PointT> pcl::ndt2d::NormalDist< PointT >::PointCloud [private]

Definition at line 98 of file ndt_2d.hpp.

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Constructor & Destructor Documentation

template<typename PointT >

pcl::ndt2d::NormalDist< PointT >::NormalDist

(

)

[inline]

Definition at line 101 of file ndt_2d.hpp.

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Member Function Documentation

template<typename PointT >

void pcl::ndt2d::NormalDist< PointT >::addIdx

(

size_t

i

)

[inline]

Store a point index to use later for estimating distribution parameters.

Parameters:

[in]

i

Point index to store

Definition at line 110 of file ndt_2d.hpp.

template<typename PointT >

void pcl::ndt2d::NormalDist< PointT >::estimateParams	(	const PointCloud &	cloud,
		double	min_covar_eigvalue_mult = 0.001
	)		[inline]

Estimate the normal distribution parameters given the point indices provided. Memory of point indices is cleared.

Parameters:

[in]	cloud	Point cloud corresponding to indices passed to addIdx.
[in]	min_covar_eigvalue_mult	Set the smallest eigenvalue to this times the largest.

Definition at line 120 of file ndt_2d.hpp.

template<typename PointT >

ValueAndDerivatives<3,double> pcl::ndt2d::NormalDist< PointT >::test	(	const PointT &	transformed_pt,
		const double &	cos_theta,
		const double &	sin_theta
	)		const [inline]

Return the 'score' (denormalised likelihood) and derivatives of score of the point p given this distribution.

Parameters:

[in]	transformed_pt	Location to evaluate at.
[in]	cos_theta	sin(theta) of the current rotation angle of rigid transformation: to avoid repeated evaluation
[in]	sin_theta	cos(theta) of the current rotation angle of rigid transformation: to avoid repeated evaluation estimateParams must have been called after at least three points were provided, or this will return zero.

Definition at line 165 of file ndt_2d.hpp.

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Member Data Documentation

template<typename PointT >

Eigen::Matrix2d pcl::ndt2d::NormalDist< PointT >::covar_inv_ [protected]

Definition at line 210 of file ndt_2d.hpp.

template<typename PointT >

Eigen::Vector2d pcl::ndt2d::NormalDist< PointT >::mean_ [protected]

Definition at line 209 of file ndt_2d.hpp.

template<typename PointT >

const size_t pcl::ndt2d::NormalDist< PointT >::min_n_ [protected]

Definition at line 205 of file ndt_2d.hpp.

template<typename PointT >

size_t pcl::ndt2d::NormalDist< PointT >::n_ [protected]

Definition at line 207 of file ndt_2d.hpp.

template<typename PointT >

std::vector<size_t> pcl::ndt2d::NormalDist< PointT >::pt_indices_ [protected]

Definition at line 208 of file ndt_2d.hpp.

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

• ndt_2d.hpp