#include <ndt_solver.h>

Collaboration diagram for apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >:

Public Types
typedef boost::shared_ptr< NormalDistributionsTransform< PointSource, PointTarget > >	Ptr
	Typedef shared pointer. More...

typedef boost::shared_ptr< const NormalDistributionsTransform< PointSource, PointTarget > >	ConstPtr

Public Member Functions
	NormalDistributionsTransform ()
	Constructor. More...

	~NormalDistributionsTransform ()
	Destructor. More...

void	SetInputTarget (const std::vector< Leaf > &cell_leaf, const PointCloudTargetConstPtr &cloud)
	Provide a pointer to the input target. More...

void	SetInputSource (const PointCloudTargetConstPtr &cloud)
	Provide a pointer to the input target. More...

void	SetResolution (float resolution)
	Set/change the voxel grid resolution. More...

float	GetResolution () const
	Get voxel grid resolution. More...

double	GetStepSize () const
	Get the newton line search maximum step length. More...

void	SetStepSize (double step_size)
	Set/change the newton line search maximum step length. More...

double	GetOulierRatio () const
	Get the point cloud outlier ratio. More...

void	SetOulierRatio (double outlier_ratio)
	Set/change the point cloud outlier ratio. More...

double	GetTransformationProbability () const
	Get the registration alignment probability. More...

int	GetFinalNumIteration () const
	Get the number of iterations required to calculate alignment. More...

bool	HasConverged () const
	Return the state of convergence after the last align run. More...

Eigen::Matrix4f	GetFinalTransformation () const
	Get the final transformation matrix estimated by the registration method. More...

void	SetMaximumIterations (int nr_iterations)
	Set the maximum number of iterations the internal optimization should run for. More...

void	SetTransformationEpsilon (double epsilon)
	Set the transformation epsilon (maximum allowable difference between two consecutive transformations. More...

void	GetGridPointCloud (pcl::PointCloud< pcl::PointXYZ > *cell_cloud)
	Obtain probability point cloud. More...

void	SetLeftTopCorner (const Eigen::Vector3d &left_top_corner)
	Set left top corner of target point cloud. More...

double	GetFitnessScore (double max_range=std::numeric_limits< double >::max())
	Obtain the Euclidean fitness score. More...

void	Align (PointCloudSourcePtr output, const Eigen::Matrix4f &guess)
	Call the registration algorithm which estimates the transformation and returns the transformed source. More...

Static Public Member Functions
static void	ConvertTransform (const Eigen::Matrix< double, 6, 1 > &x, Eigen::Affine3f *trans)
	Convert 6 element transformation vector to affine transformation. More...

static void	ConvertTransform (const Eigen::Matrix< double, 6, 1 > &x, Eigen::Matrix4f *trans)
	Convert 6 element transformation vector to transformation matrix. More...

Protected Types
typedef pcl::PointCloud< PointSource >	PointCloudSource
	Typename of source point. More...

typedef boost::shared_ptr< PointCloudSource >	PointCloudSourcePtr

typedef boost::shared_ptr< const PointCloudSource >	PointCloudSourceConstPtr

typedef pcl::PointCloud< PointTarget >	PointCloudTarget
	Typename of target point. More...

typedef boost::shared_ptr< const PointCloudTarget >	PointCloudTargetConstPtr

typedef VoxelGridCovariance< PointTarget >	TargetGrid
	Typename of searchable voxel grid containing mean and covariance. More...

typedef TargetGrid *	TargetGridPtr

typedef const TargetGrid *	TargetGridConstPtr

typedef LeafConstPtr	TargetGridLeafConstPtr

typedef pcl::search::KdTree< PointTarget >	KdTree
	Typename of KD-Tree. More...

typedef pcl::search::KdTree< PointTarget >::Ptr	KdTreePtr

Protected Member Functions
void	ComputeTransformation (PointCloudSourcePtr output)
	Estimate the transformation and returns the transformed source (input) as output. More...

void	ComputeTransformation (PointCloudSourcePtr output, const Eigen::Matrix4f &guess)
	Estimate the transformation and returns the transformed source (input) as output. More...

double	ComputeDerivatives (Eigen::Matrix< double, 6, 1 > score_gradient, Eigen::Matrix< double, 6, 6 > hessian, PointCloudSourcePtr trans_cloud, Eigen::Matrix< double, 6, 1 > *p, bool ComputeHessian=true)
	Compute derivatives of probability function w.r.t. the transformation vector. More...

double	UpdateDerivatives (Eigen::Matrix< double, 6, 1 > score_gradient, Eigen::Matrix< double, 6, 6 > hessian, const Eigen::Vector3d &x_trans, const Eigen::Matrix3d &c_inv, bool ComputeHessian=true)
	Compute individual point contributions to derivatives of probability function w.r.t. the transformation vector. More...

void	ComputeAngleDerivatives (const Eigen::Matrix< double, 6, 1 > &p, bool ComputeHessian=true)
	Precompute anglular components of derivatives. More...

void	ComputePointDerivatives (const Eigen::Vector3d &x, bool ComputeHessian=true)
	Compute point derivatives. More...

void	ComputeHessian (Eigen::Matrix< double, 6, 6 > hessian, const PointCloudSource &trans_cloud, Eigen::Matrix< double, 6, 1 > p)
	Compute hessian of probability function w.r.t. the transformation vector. More...

void	UpdateHessian (Eigen::Matrix< double, 6, 6 > *hessian, const Eigen::Vector3d &x_trans, const Eigen::Matrix3d &c_inv)
	Compute individual point contributions to hessian of probability function. More...

double	ComputeStepLengthMt (const Eigen::Matrix< double, 6, 1 > &x, Eigen::Matrix< double, 6, 1 > step_dir, double step_init, double step_max, double step_min, double score, Eigen::Matrix< double, 6, 1 > score_gradient, Eigen::Matrix< double, 6, 6 > hessian, PointCloudSourcePtr trans_cloud)
	Compute line search step length and update transform and probability derivatives. More...

bool	UpdateIntervalMt (double a_l, double f_l, double g_l, double a_u, double f_u, double g_u, double a_t, double f_t, double g_t)
	Update interval of possible step lengths for More-Thuente method. More...

double	TrialValueSelectionMt (double a_l, double f_l, double g_l, double a_u, double f_u, double g_u, double a_t, double f_t, double g_t)
	Select new trial value for More-Thuente method. More...

double	AuxilaryFunctionPsimt (double a, double f_a, double f_0, double g_0, double mu=1.e-4)
	Auxiliary function used to determine endpoints of More-Thuente interval. More...

double	AuxilaryFunctionDpsimt (double g_a, double g_0, double mu=1.e-4)
	Auxiliary function derivative used to determine endpoints of More-Thuente interval. More...

Protected Attributes
PointCloudTargetConstPtr	target_
	A pointer of input target point cloud. More...

KdTreePtr	target_tree_
	A pointer to the spatial search object. More...

TargetGrid	target_cells_
	The voxel grid generated from target cloud containing point means and covariances. More...

PointCloudSourceConstPtr	input_
	A pointer of input source point cloud. More...

int	nr_iterations_
	finnal iterations. More...

bool	converged_

Eigen::Matrix4f	previous_transformation_
	transformations. More...

Eigen::Matrix4f	final_transformation_

Eigen::Matrix4f	transformation_

int	max_iterations_
	max iterations. More...

double	transformation_epsilon_
	Transformation epsilon parameter. More...

float	resolution_
	The side length of voxels. More...

double	step_size_
	The maximum step length. More...

double	outlier_ratio_
	The ratio of outliers of points w.r.t. a normal distribution, Equation 6.7 [Magnusson 2009]. More...

double	gauss_d1_
	The normalization constants used fit the point distribution to a normal distribution, Equation 6.8 [Magnusson 2009]. More...

double	gauss_d2_

double	trans_probability_
	The probability score of the transform applied to the input cloud, Equation 6.9 and 6.10 [Magnusson 2009]. More...

Eigen::Vector3d	j_ang_a_
	The precomputed angular derivatives for the jacobian of a transformation vector, Equation 6.19 [Magnusson 2009]. More...

Eigen::Vector3d	j_ang_b_

Eigen::Vector3d	j_ang_c_

Eigen::Vector3d	j_ang_d_

Eigen::Vector3d	j_ang_e_

Eigen::Vector3d	j_ang_f_

Eigen::Vector3d	j_ang_g_

Eigen::Vector3d	j_ang_h_

Eigen::Vector3d	h_ang_a2_
	The precomputed angular derivatives for the hessian of a transformation vector, Equation 6.19 [Magnusson 2009]. More...

Eigen::Vector3d	h_ang_a3_

Eigen::Vector3d	h_ang_b2_

Eigen::Vector3d	h_ang_b3_

Eigen::Vector3d	h_ang_c2_

Eigen::Vector3d	h_ang_c3_

Eigen::Vector3d	h_ang_d1_

Eigen::Vector3d	h_ang_d2_

Eigen::Vector3d	h_ang_d3_

Eigen::Vector3d	h_ang_e1_

Eigen::Vector3d	h_ang_e2_

Eigen::Vector3d	h_ang_e3_

Eigen::Vector3d	h_ang_f1_

Eigen::Vector3d	h_ang_f2_

Eigen::Vector3d	h_ang_f3_

Eigen::Matrix< double, 3, 6 >	point_gradient_
	The first order derivative of the transformation of a point w.r.t. the transform vector, Equation 6.18 [Magnusson 2009]. More...

Eigen::Matrix< double, 18, 6 >	point_hessian_
	The second order derivative of the transformation of a point w.r.t. the transform vector, Equation 6.20 [Magnusson 2009]. More...

Member Typedef Documentation

◆ ConstPtr

template<typename PointSource, typename PointTarget>

typedef boost::shared_ptr< const NormalDistributionsTransform<PointSource, PointTarget> > apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ConstPtr

◆ KdTree

template<typename PointSource, typename PointTarget>

typedef pcl::search::KdTree<PointTarget> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::KdTree

protected

Typename of KD-Tree.

◆ KdTreePtr

template<typename PointSource, typename PointTarget>

typedef pcl::search::KdTree<PointTarget>::Ptr apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::KdTreePtr

protected

◆ PointCloudSource

template<typename PointSource, typename PointTarget>

typedef pcl::PointCloud<PointSource> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::PointCloudSource

protected

Typename of source point.

◆ PointCloudSourceConstPtr

template<typename PointSource, typename PointTarget>

typedef boost::shared_ptr<const PointCloudSource> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::PointCloudSourceConstPtr

protected

◆ PointCloudSourcePtr

template<typename PointSource, typename PointTarget>

typedef boost::shared_ptr<PointCloudSource> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::PointCloudSourcePtr

protected

◆ PointCloudTarget

template<typename PointSource, typename PointTarget>

typedef pcl::PointCloud<PointTarget> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::PointCloudTarget

protected

Typename of target point.

◆ PointCloudTargetConstPtr

template<typename PointSource, typename PointTarget>

typedef boost::shared_ptr<const PointCloudTarget> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::PointCloudTargetConstPtr

protected

◆ Ptr

template<typename PointSource, typename PointTarget>

typedef boost::shared_ptr< NormalDistributionsTransform<PointSource, PointTarget> > apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::Ptr

Typedef shared pointer.

◆ TargetGrid

template<typename PointSource, typename PointTarget>

typedef VoxelGridCovariance<PointTarget> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::TargetGrid

protected

Typename of searchable voxel grid containing mean and covariance.

◆ TargetGridConstPtr

template<typename PointSource, typename PointTarget>

typedef const TargetGrid* apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::TargetGridConstPtr

protected

◆ TargetGridLeafConstPtr

template<typename PointSource, typename PointTarget>

typedef LeafConstPtr apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::TargetGridLeafConstPtr

protected

◆ TargetGridPtr

template<typename PointSource, typename PointTarget>

typedef TargetGrid* apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::TargetGridPtr

protected

Constructor & Destructor Documentation

◆ NormalDistributionsTransform()

template<typename PointSource, typename PointTarget>

apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::NormalDistributionsTransform ( )

Constructor.

◆ ~NormalDistributionsTransform()

template<typename PointSource, typename PointTarget>

apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::~NormalDistributionsTransform ( )

inline

Destructor.

Member Function Documentation

◆ Align()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::Align	(	PointCloudSourcePtr	output,
		const Eigen::Matrix4f &	guess
	)

Call the registration algorithm which estimates the transformation and returns the transformed source.

◆ AuxilaryFunctionDpsimt()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::AuxilaryFunctionDpsimt	(	double	g_a,
		double	g_0,
		double	mu = `1.e-4`
	)

inlineprotected

Auxiliary function derivative used to determine endpoints of More-Thuente interval.

◆ AuxilaryFunctionPsimt()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::AuxilaryFunctionPsimt	(	double	a,
		double	f_a,
		double	f_0,
		double	g_0,
		double	mu = `1.e-4`
	)

inlineprotected

Auxiliary function used to determine endpoints of More-Thuente interval.

◆ ComputeAngleDerivatives()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ComputeAngleDerivatives	(	const Eigen::Matrix< double, 6, 1 > &	p,
		bool	ComputeHessian = `true`
	)

protected

Precompute anglular components of derivatives.

◆ ComputeDerivatives()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ComputeDerivatives	(	Eigen::Matrix< double, 6, 1 > *	score_gradient,
		Eigen::Matrix< double, 6, 6 > *	hessian,
		PointCloudSourcePtr	trans_cloud,
		Eigen::Matrix< double, 6, 1 > *	p,
		bool	ComputeHessian = `true`
	)

protected

Compute derivatives of probability function w.r.t. the transformation vector.

◆ ComputeHessian()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ComputeHessian	(	Eigen::Matrix< double, 6, 6 > *	hessian,
		const PointCloudSource &	trans_cloud,
		Eigen::Matrix< double, 6, 1 > *	p
	)

protected

Compute hessian of probability function w.r.t. the transformation vector.

◆ ComputePointDerivatives()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ComputePointDerivatives	(	const Eigen::Vector3d &	x,
		bool	ComputeHessian = `true`
	)

protected

Compute point derivatives.

◆ ComputeStepLengthMt()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ComputeStepLengthMt	(	const Eigen::Matrix< double, 6, 1 > &	x,
		Eigen::Matrix< double, 6, 1 > *	step_dir,
		double	step_init,
		double	step_max,
		double	step_min,
		double *	score,
		Eigen::Matrix< double, 6, 1 > *	score_gradient,
		Eigen::Matrix< double, 6, 6 > *	hessian,
		PointCloudSourcePtr	trans_cloud
	)

protected

Compute line search step length and update transform and probability derivatives.

◆ ComputeTransformation() [1/2]

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ComputeTransformation ( PointCloudSourcePtr output )

inlineprotected

Estimate the transformation and returns the transformed source (input) as output.

◆ ComputeTransformation() [2/2]

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ComputeTransformation	(	PointCloudSourcePtr	output,
		const Eigen::Matrix4f &	guess
	)

protected

Estimate the transformation and returns the transformed source (input) as output.

◆ ConvertTransform() [1/2]

template<typename PointSource, typename PointTarget>

static void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ConvertTransform	(	const Eigen::Matrix< double, 6, 1 > &	x,
		Eigen::Affine3f *	trans
	)

inlinestatic

Convert 6 element transformation vector to affine transformation.

◆ ConvertTransform() [2/2]

template<typename PointSource, typename PointTarget>

static void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::ConvertTransform	(	const Eigen::Matrix< double, 6, 1 > &	x,
		Eigen::Matrix4f *	trans
	)

inlinestatic

Convert 6 element transformation vector to transformation matrix.

◆ GetFinalNumIteration()

template<typename PointSource, typename PointTarget>

int apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetFinalNumIteration ( ) const

inline

Get the number of iterations required to calculate alignment.

◆ GetFinalTransformation()

template<typename PointSource, typename PointTarget>

Eigen::Matrix4f apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetFinalTransformation ( ) const

inline

Get the final transformation matrix estimated by the registration method.

◆ GetFitnessScore()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetFitnessScore ( double max_range = std::numeric_limits< double >::max() )

Obtain the Euclidean fitness score.

◆ GetGridPointCloud()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetGridPointCloud ( pcl::PointCloud< pcl::PointXYZ > * cell_cloud )

inline

Obtain probability point cloud.

◆ GetOulierRatio()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetOulierRatio ( ) const

inline

Get the point cloud outlier ratio.

◆ GetResolution()

template<typename PointSource, typename PointTarget>

float apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetResolution ( ) const

inline

Get voxel grid resolution.

◆ GetStepSize()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetStepSize ( ) const

inline

Get the newton line search maximum step length.

Returns: maximum step length

◆ GetTransformationProbability()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::GetTransformationProbability ( ) const

inline

Get the registration alignment probability.

◆ HasConverged()

template<typename PointSource, typename PointTarget>

bool apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::HasConverged ( ) const

inline

Return the state of convergence after the last align run.

◆ SetInputSource()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetInputSource ( const PointCloudTargetConstPtr & cloud )

inline

Provide a pointer to the input target.

◆ SetInputTarget()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetInputTarget	(	const std::vector< Leaf > &	cell_leaf,
		const PointCloudTargetConstPtr &	cloud
	)

inline

Provide a pointer to the input target.

◆ SetLeftTopCorner()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetLeftTopCorner ( const Eigen::Vector3d & left_top_corner )

inline

Set left top corner of target point cloud.

◆ SetMaximumIterations()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetMaximumIterations ( int nr_iterations )

inline

Set the maximum number of iterations the internal optimization should run for.

◆ SetOulierRatio()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetOulierRatio ( double outlier_ratio )

inline

Set/change the point cloud outlier ratio.

◆ SetResolution()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetResolution ( float resolution )

inline

Set/change the voxel grid resolution.

◆ SetStepSize()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetStepSize ( double step_size )

inline

Set/change the newton line search maximum step length.

Parameters

[in] step_size maximum step length

◆ SetTransformationEpsilon()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::SetTransformationEpsilon ( double epsilon )

inline

Set the transformation epsilon (maximum allowable difference between two consecutive transformations.

◆ TrialValueSelectionMt()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::TrialValueSelectionMt	(	double	a_l,
		double	f_l,
		double	g_l,
		double	a_u,
		double	f_u,
		double	g_u,
		double	a_t,
		double	f_t,
		double	g_t
	)

protected

Select new trial value for More-Thuente method.

◆ UpdateDerivatives()

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::UpdateDerivatives	(	Eigen::Matrix< double, 6, 1 > *	score_gradient,
		Eigen::Matrix< double, 6, 6 > *	hessian,
		const Eigen::Vector3d &	x_trans,
		const Eigen::Matrix3d &	c_inv,
		bool	ComputeHessian = `true`
	)

protected

Compute individual point contributions to derivatives of probability function w.r.t. the transformation vector.

◆ UpdateHessian()

template<typename PointSource, typename PointTarget>

void apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::UpdateHessian	(	Eigen::Matrix< double, 6, 6 > *	hessian,
		const Eigen::Vector3d &	x_trans,
		const Eigen::Matrix3d &	c_inv
	)

protected

Compute individual point contributions to hessian of probability function.

◆ UpdateIntervalMt()

template<typename PointSource, typename PointTarget>

bool apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::UpdateIntervalMt	(	double *	a_l,
		double *	f_l,
		double *	g_l,
		double *	a_u,
		double *	f_u,
		double *	g_u,
		double	a_t,
		double	f_t,
		double	g_t
	)

protected

Update interval of possible step lengths for More-Thuente method.

Member Data Documentation

◆ converged_

template<typename PointSource, typename PointTarget>

bool apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::converged_

protected

◆ final_transformation_

template<typename PointSource, typename PointTarget>

Eigen::Matrix4f apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::final_transformation_

protected

◆ gauss_d1_

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::gauss_d1_

protected

The normalization constants used fit the point distribution to a normal distribution, Equation 6.8 [Magnusson 2009].

◆ gauss_d2_

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::gauss_d2_

protected

◆ h_ang_a2_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_a2_

protected

The precomputed angular derivatives for the hessian of a transformation vector, Equation 6.19 [Magnusson 2009].

◆ h_ang_a3_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_a3_

protected

◆ h_ang_b2_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_b2_

protected

◆ h_ang_b3_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_b3_

protected

◆ h_ang_c2_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_c2_

protected

◆ h_ang_c3_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_c3_

protected

◆ h_ang_d1_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_d1_

protected

◆ h_ang_d2_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_d2_

protected

◆ h_ang_d3_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_d3_

protected

◆ h_ang_e1_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_e1_

protected

◆ h_ang_e2_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_e2_

protected

◆ h_ang_e3_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_e3_

protected

◆ h_ang_f1_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_f1_

protected

◆ h_ang_f2_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_f2_

protected

◆ h_ang_f3_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::h_ang_f3_

protected

◆ input_

template<typename PointSource, typename PointTarget>

PointCloudSourceConstPtr apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::input_

protected

A pointer of input source point cloud.

◆ j_ang_a_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_a_

protected

The precomputed angular derivatives for the jacobian of a transformation vector, Equation 6.19 [Magnusson 2009].

◆ j_ang_b_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_b_

protected

◆ j_ang_c_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_c_

protected

◆ j_ang_d_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_d_

protected

◆ j_ang_e_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_e_

protected

◆ j_ang_f_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_f_

protected

◆ j_ang_g_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_g_

protected

◆ j_ang_h_

template<typename PointSource, typename PointTarget>

Eigen::Vector3d apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::j_ang_h_

protected

◆ max_iterations_

template<typename PointSource, typename PointTarget>

int apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::max_iterations_

protected

max iterations.

◆ nr_iterations_

template<typename PointSource, typename PointTarget>

int apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::nr_iterations_

protected

finnal iterations.

◆ outlier_ratio_

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::outlier_ratio_

protected

The ratio of outliers of points w.r.t. a normal distribution, Equation 6.7 [Magnusson 2009].

◆ point_gradient_

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double, 3, 6> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::point_gradient_

protected

The first order derivative of the transformation of a point w.r.t. the transform vector, Equation 6.18 [Magnusson 2009].

◆ point_hessian_

template<typename PointSource, typename PointTarget>

Eigen::Matrix<double, 18, 6> apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::point_hessian_

protected

The second order derivative of the transformation of a point w.r.t. the transform vector, Equation 6.20 [Magnusson 2009].

◆ previous_transformation_

template<typename PointSource, typename PointTarget>

Eigen::Matrix4f apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::previous_transformation_

protected

transformations.

◆ resolution_

template<typename PointSource, typename PointTarget>

float apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::resolution_

protected

The side length of voxels.

◆ step_size_

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::step_size_

protected

The maximum step length.

◆ target_

template<typename PointSource, typename PointTarget>

PointCloudTargetConstPtr apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::target_

protected

A pointer of input target point cloud.

◆ target_cells_

template<typename PointSource, typename PointTarget>

TargetGrid apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::target_cells_

protected

The voxel grid generated from target cloud containing point means and covariances.

◆ target_tree_

template<typename PointSource, typename PointTarget>

KdTreePtr apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::target_tree_

protected

A pointer to the spatial search object.

◆ trans_probability_

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::trans_probability_

protected

The probability score of the transform applied to the input cloud, Equation 6.9 and 6.10 [Magnusson 2009].

◆ transformation_

template<typename PointSource, typename PointTarget>

Eigen::Matrix4f apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::transformation_

protected

◆ transformation_epsilon_

template<typename PointSource, typename PointTarget>

double apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >::transformation_epsilon_

protected

Transformation epsilon parameter.

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

modules/localization/ndt/ndt_locator/ndt_solver.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudSource

◆ PointCloudSourceConstPtr

◆ PointCloudSourcePtr

◆ PointCloudTarget

◆ PointCloudTargetConstPtr

◆ Ptr

◆ TargetGrid

◆ TargetGridConstPtr

◆ TargetGridLeafConstPtr

◆ TargetGridPtr

Constructor & Destructor Documentation

◆ NormalDistributionsTransform()

◆ ~NormalDistributionsTransform()

Member Function Documentation

◆ Align()

◆ AuxilaryFunctionDpsimt()

◆ AuxilaryFunctionPsimt()

◆ ComputeAngleDerivatives()

◆ ComputeDerivatives()

◆ ComputeHessian()

◆ ComputePointDerivatives()

◆ ComputeStepLengthMt()

◆ ComputeTransformation() [1/2]

◆ ComputeTransformation() [2/2]

◆ ConvertTransform() [1/2]

◆ ConvertTransform() [2/2]

◆ GetFinalNumIteration()

◆ GetFinalTransformation()

◆ GetFitnessScore()

◆ GetGridPointCloud()

◆ GetOulierRatio()

◆ GetResolution()

◆ GetStepSize()

◆ GetTransformationProbability()

◆ HasConverged()

◆ SetInputSource()

◆ SetInputTarget()

◆ SetLeftTopCorner()

◆ SetMaximumIterations()

◆ SetOulierRatio()

◆ SetResolution()

◆ SetStepSize()

◆ SetTransformationEpsilon()

◆ TrialValueSelectionMt()

◆ UpdateDerivatives()

◆ UpdateHessian()

◆ UpdateIntervalMt()

Member Data Documentation

◆ converged_

◆ final_transformation_

◆ gauss_d1_

◆ gauss_d2_

◆ h_ang_a2_

◆ h_ang_a3_

◆ h_ang_b2_

◆ h_ang_b3_

◆ h_ang_c2_

◆ h_ang_c3_

◆ h_ang_d1_

◆ h_ang_d2_

◆ h_ang_d3_

◆ h_ang_e1_

◆ h_ang_e2_

◆ h_ang_e3_

◆ h_ang_f1_

◆ h_ang_f2_

◆ h_ang_f3_

◆ input_

◆ j_ang_a_

◆ j_ang_b_