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]

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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.

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

• ndt_histogram.h
• ndt_histogram.hpp