lslgeneric::NDTHistogram Class Reference

#include <ndt_histogram.h>

List of all members.

Public Member Functions
void	bestFitToHistogram (NDTHistogram &target, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T, bool bound_transform=true)
pcl::PointCloud< pcl::PointXYZ >	getDominantDirections (int nDirections)
double	getSimilarity (NDTHistogram &other)
double	getSimilarity (NDTHistogram &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 &map)
	NDTHistogram (const NDTHistogram &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< pcl::PointXYZ > &src, pcl::PointCloud< pcl::PointXYZ > &trgt, Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &T)
void	computeDirections ()
void	constructHistogram (NDTMap &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

Definition at line 42 of file ndt_histogram.h.

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Constructor & Destructor Documentation

lslgeneric::NDTHistogram::NDTHistogram

(

)

Definition at line 7 of file ndt_histogram.cpp.

lslgeneric::NDTHistogram::NDTHistogram

(

NDTMap &

map

)

Definition at line 65 of file ndt_histogram.cpp.

lslgeneric::NDTHistogram::NDTHistogram

(

const NDTHistogram &

other

)

Definition at line 38 of file ndt_histogram.cpp.

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Member Function Documentation

void lslgeneric::NDTHistogram::bestFitToHistogram	(	NDTHistogram &	target,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T,
		bool	bound_transform = true
	)

Definition at line 287 of file ndt_histogram.cpp.

void lslgeneric::NDTHistogram::closedFormSolution	(	pcl::PointCloud< pcl::PointXYZ > &	src,
		pcl::PointCloud< pcl::PointXYZ > &	trgt,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T
	)		[private]

Definition at line 487 of file ndt_histogram.cpp.

void lslgeneric::NDTHistogram::computeDirections

(

)

[private]

Definition at line 99 of file ndt_histogram.cpp.

void lslgeneric::NDTHistogram::constructHistogram

(

NDTMap &

map

)

[private]

Definition at line 117 of file ndt_histogram.cpp.

pcl::PointCloud< pcl::PointXYZ > lslgeneric::NDTHistogram::getDominantDirections

(

int

nDirections

)

Definition at line 235 of file ndt_histogram.cpp.

double lslgeneric::NDTHistogram::getSimilarity

(

NDTHistogram &

other

)

Definition at line 597 of file ndt_histogram.cpp.

double lslgeneric::NDTHistogram::getSimilarity	(	NDTHistogram &	other,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T
	)

Definition at line 608 of file ndt_histogram.cpp.

double lslgeneric::NDTHistogram::getTransform	(	size_t	FIT_NUMBER,
		Eigen::Transform< double, 3, Eigen::Affine, Eigen::ColMajor > &	T
	)		[inline]

Definition at line 79 of file ndt_histogram.h.

void lslgeneric::NDTHistogram::incrementFlatBin	(	Eigen::Vector3d &	normal,
		double	d
	)		[private]

Definition at line 193 of file ndt_histogram.cpp.

void lslgeneric::NDTHistogram::incrementLineBin

(

double

d

)

[private]

Definition at line 186 of file ndt_histogram.cpp.

void lslgeneric::NDTHistogram::incrementSphereBin

(

double

d

)

[private]

Definition at line 219 of file ndt_histogram.cpp.

void lslgeneric::NDTHistogram::printHistogram

(

bool

bMatlab = false

)

Definition at line 527 of file ndt_histogram.cpp.

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Member Data Documentation

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

Definition at line 61 of file ndt_histogram.h.

double lslgeneric::NDTHistogram::D1 [private]

Definition at line 51 of file ndt_histogram.h.

double lslgeneric::NDTHistogram::D2 [private]

Definition at line 51 of file ndt_histogram.h.

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

Definition at line 93 of file ndt_histogram.h.

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

Definition at line 57 of file ndt_histogram.h.

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

Definition at line 58 of file ndt_histogram.h.

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

Definition at line 59 of file ndt_histogram.h.

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

Definition at line 44 of file ndt_histogram.h.

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

Definition at line 45 of file ndt_histogram.h.

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

Definition at line 46 of file ndt_histogram.h.

bool lslgeneric::NDTHistogram::inited [private]

Definition at line 52 of file ndt_histogram.h.

int lslgeneric::NDTHistogram::N_FLAT_BINS [private]

Definition at line 49 of file ndt_histogram.h.

int lslgeneric::NDTHistogram::N_LINE_BINS [private]

Definition at line 48 of file ndt_histogram.h.

int lslgeneric::NDTHistogram::N_SPHERE_BINS [private]

Definition at line 50 of file ndt_histogram.h.

std::vector< Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor>,Eigen::aligned_allocator<Eigen::Transform<double,3,Eigen::Affine,Eigen::ColMajor> > > lslgeneric::NDTHistogram::topThree [private]

Definition at line 54 of file ndt_histogram.h.

double lslgeneric::NDTHistogram::topThreeS[3] [private]

Definition at line 55 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.cpp