#include <ndt_solver.h>

apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget > 的协作图:

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

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

Public 成员函数
	NormalDistributionsTransform ()
	Constructor.

	~NormalDistributionsTransform ()
	Destructor.

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

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

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

float	GetResolution () const
	Get voxel grid resolution.

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

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

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

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

double	GetTransformationProbability () const
	Get the registration alignment probability.

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

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

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

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

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

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

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

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

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

静态 Public 成员函数
static void	ConvertTransform (const Eigen::Matrix< double, 6, 1 > &x, Eigen::Affine3f *trans)
	Convert 6 element transformation vector to affine transformation.

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

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

typedef boost::shared_ptr< PointCloudSource >	PointCloudSourcePtr

typedef boost::shared_ptr< const PointCloudSource >	PointCloudSourceConstPtr

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

typedef boost::shared_ptr< const PointCloudTarget >	PointCloudTargetConstPtr

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

typedef TargetGrid *	TargetGridPtr

typedef const TargetGrid *	TargetGridConstPtr

typedef LeafConstPtr	TargetGridLeafConstPtr

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

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

Protected 成员函数
void	ComputeTransformation (PointCloudSourcePtr output)
	Estimate the transformation and returns the transformed source (input) as output.

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

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.

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.

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

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

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.

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.

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.

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.

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.

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.

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

Protected 属性
PointCloudTargetConstPtr	target_
	A pointer of input target point cloud.

KdTreePtr	target_tree_
	A pointer to the spatial search object.

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

PointCloudSourceConstPtr	input_
	A pointer of input source point cloud.

int	nr_iterations_
	finnal iterations.

bool	converged_

Eigen::Matrix4f	previous_transformation_
	transformations.

Eigen::Matrix4f	final_transformation_

Eigen::Matrix4f	transformation_

int	max_iterations_
	max iterations.

double	transformation_epsilon_
	Transformation epsilon parameter.

float	resolution_
	The side length of voxels.

double	step_size_
	The maximum step length.

double	outlier_ratio_
	The ratio of outliers of points w.r.t.

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

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].

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

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].

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.

Eigen::Matrix< double, 18, 6 >	point_hessian_
	The second order derivative of the transformation of a point w.r.t.

详细描述

template<typename PointSource, typename PointTarget>
class apollo::localization::ndt::NormalDistributionsTransform< PointSource, PointTarget >

在文件 ndt_solver.h 第 73 行定义.

成员类型定义说明

◆ ConstPtr

template<typename PointSource , typename PointTarget >

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

在文件 ndt_solver.h 第 101 行定义.

◆ KdTree

template<typename PointSource , typename PointTarget >

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

protected

Typename of KD-Tree.

在文件 ndt_solver.h 第 91 行定义.

◆ KdTreePtr

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 92 行定义.

◆ PointCloudSource

template<typename PointSource , typename PointTarget >

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

protected

Typename of source point.

在文件 ndt_solver.h 第 76 行定义.

◆ PointCloudSourceConstPtr

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 78 行定义.

◆ PointCloudSourcePtr

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 77 行定义.

◆ PointCloudTarget

template<typename PointSource , typename PointTarget >

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

protected

Typename of target point.

在文件 ndt_solver.h 第 81 行定义.

◆ PointCloudTargetConstPtr

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 82 行定义.

◆ Ptr

template<typename PointSource , typename PointTarget >

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

Typedef shared pointer.

在文件 ndt_solver.h 第 98 行定义.

◆ 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.

在文件 ndt_solver.h 第 85 行定义.

◆ TargetGridConstPtr

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 87 行定义.

◆ TargetGridLeafConstPtr

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 88 行定义.

◆ TargetGridPtr

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 86 行定义.

构造及析构函数说明

◆ 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.

在文件 ndt_solver.h 第 107 行定义.

                                  {
    target_.reset();
    input_.reset();
  }

成员函数说明

◆ 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.

在文件 ndt_solver.h 第 314 行定义.

                                                          {
    return (g_a - mu * g_0);
  }

◆ 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.

在文件 ndt_solver.h 第 307 行定义.

                                                                     {
    return (f_a - f_0 - mu * g_0 * a);
  }

◆ 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.

在文件 ndt_solver.h 第 240 行定义.

                                                         {
    ComputeTransformation(output, Eigen::Matrix4f::Identity());
  }

◆ 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.

在文件 ndt_solver.h 第 199 行定义.

                                                     {
    *trans = Eigen::Translation<float, 3>(static_cast<float>(x(0)),
                                          static_cast<float>(x(1)),
                                          static_cast<float>(x(2))) *
             Eigen::AngleAxis<float>(static_cast<float>(x(3)),
                                     Eigen::Vector3f::UnitX()) *
             Eigen::AngleAxis<float>(static_cast<float>(x(4)),
                                     Eigen::Vector3f::UnitY()) *
             Eigen::AngleAxis<float>(static_cast<float>(x(5)),
                                     Eigen::Vector3f::UnitZ());
  }

◆ 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.

在文件 ndt_solver.h 第 213 行定义.

                                                     {
    Eigen::Affine3f _affine;
    ConvertTransform(x, &_affine);
    *trans = _affine.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.

在文件 ndt_solver.h 第 175 行定义.

175{ return nr_iterations_; }

apollo::localization::ndt::NormalDistributionsTransform::nr_iterations_

int nr_iterations_

finnal iterations.

Definition ndt_solver.h:332

◆ 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.

在文件 ndt_solver.h 第 182 行定义.

                                                      {
    return final_transformation_;
  }

◆ 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.

在文件 ndt_solver.h 第 221 行定义.

                                                                 {
    target_cells_.GetDisplayCloud(*cell_cloud);
  }

◆ GetOulierRatio()

template<typename PointSource , typename PointTarget >

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

inline

Get the point cloud outlier ratio.

在文件 ndt_solver.h 第 162 行定义.

162{ return outlier_ratio_; }

apollo::localization::ndt::NormalDistributionsTransform::outlier_ratio_

double outlier_ratio_

The ratio of outliers of points w.r.t.

Definition ndt_solver.h:349

◆ GetResolution()

template<typename PointSource , typename PointTarget >

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

inline

Get voxel grid resolution.

在文件 ndt_solver.h 第 149 行定义.

149{ return resolution_; }

apollo::localization::ndt::NormalDistributionsTransform::resolution_

float resolution_

The side length of voxels.

Definition ndt_solver.h:344

◆ GetStepSize()

template<typename PointSource , typename PointTarget >

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

inline

Get the newton line search maximum step length.

返回: maximum step length

在文件 ndt_solver.h 第 154 行定义.

154{ return step_size_; }

apollo::localization::ndt::NormalDistributionsTransform::step_size_

double step_size_

The maximum step length.

Definition ndt_solver.h:346

◆ GetTransformationProbability()

template<typename PointSource , typename PointTarget >

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

inline

Get the registration alignment probability.

在文件 ndt_solver.h 第 170 行定义.

                                                     {
    return trans_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.

在文件 ndt_solver.h 第 178 行定义.

178{ return converged_; }

apollo::localization::ndt::NormalDistributionsTransform::converged_

bool converged_

Definition ndt_solver.h:333

◆ 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.

在文件 ndt_solver.h 第 131 行定义.

                                                                    {
    if (cloud->points.empty()) {
      AWARN << "Input source is empty.";
      return;
    }
    input_ = cloud;
  }

◆ 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.

在文件 ndt_solver.h 第 113 行定义.

                                                                    {
    if (cell_leaf.empty()) {
      AWARN << "Input leaf is empty.";
      return;
    }
    if (cloud->points.empty()) {
      AWARN << "Input target is empty.";
      return;
    }
 
    target_ = cloud;
    target_cells_.SetVoxelGridResolution(resolution_, resolution_, resolution_);
    target_cells_.SetInputCloud(cloud);
    target_cells_.filter(cell_leaf, true);
  }

◆ 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.

在文件 ndt_solver.h 第 226 行定义.

                                                                     {
    target_cells_.SetMapLeftTopCorner(left_top_corner);
  }

◆ 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.

在文件 ndt_solver.h 第 188 行定义.

                                                      {
    max_iterations_ = nr_iterations;
  }

◆ 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.

在文件 ndt_solver.h 第 165 行定义.

                                                   {
    outlier_ratio_ = 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.

在文件 ndt_solver.h 第 140 行定义.

                                              {
    // Prevents unnessary voxel initiations
    if (resolution_ != resolution) {
      resolution_ = resolution;
    }
    AINFO << "NDT Resolution: " << 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.

参数

[in] step_size maximum step length

在文件 ndt_solver.h 第 159 行定义.

159{ step_size_ = step_size; }

◆ 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.

在文件 ndt_solver.h 第 194 行定义.

                                                       {
    transformation_epsilon_ = epsilon;
  }

◆ 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.

类成员变量说明

◆ converged_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 333 行定义.

◆ final_transformation_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 336 行定义.

◆ 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].

在文件 ndt_solver.h 第 352 行定义.

◆ gauss_d2_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 352 行定义.

◆ 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].

在文件 ndt_solver.h 第 363 行定义.

◆ h_ang_a3_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 363 行定义.

◆ h_ang_b2_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 363 行定义.

◆ h_ang_b3_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 363 行定义.

◆ h_ang_c2_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 363 行定义.

◆ h_ang_c3_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 364 行定义.

◆ h_ang_d1_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 364 行定义.

◆ h_ang_d2_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 364 行定义.

◆ h_ang_d3_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 364 行定义.

◆ h_ang_e1_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 364 行定义.

◆ h_ang_e2_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 364 行定义.

◆ h_ang_e3_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 365 行定义.

◆ h_ang_f1_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 365 行定义.

◆ h_ang_f2_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 365 行定义.

◆ h_ang_f3_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 365 行定义.

◆ input_

template<typename PointSource , typename PointTarget >

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

protected

A pointer of input source point cloud.

在文件 ndt_solver.h 第 329 行定义.

◆ 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].

在文件 ndt_solver.h 第 359 行定义.

◆ j_ang_b_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 359 行定义.

◆ j_ang_c_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 359 行定义.

◆ j_ang_d_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 359 行定义.

◆ j_ang_e_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 359 行定义.

◆ j_ang_f_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 359 行定义.

◆ j_ang_g_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 360 行定义.

◆ j_ang_h_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 360 行定义.

◆ max_iterations_

template<typename PointSource , typename PointTarget >

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

protected

max iterations.

在文件 ndt_solver.h 第 340 行定义.

◆ nr_iterations_

template<typename PointSource , typename PointTarget >

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

protected

finnal iterations.

在文件 ndt_solver.h 第 332 行定义.

◆ 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].

在文件 ndt_solver.h 第 349 行定义.

◆ 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].

在文件 ndt_solver.h 第 368 行定义.

◆ 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].

在文件 ndt_solver.h 第 371 行定义.

◆ previous_transformation_

template<typename PointSource , typename PointTarget >

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

protected

transformations.

在文件 ndt_solver.h 第 335 行定义.

◆ resolution_

template<typename PointSource , typename PointTarget >

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

protected

The side length of voxels.

在文件 ndt_solver.h 第 344 行定义.

◆ step_size_

template<typename PointSource , typename PointTarget >

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

protected

The maximum step length.

在文件 ndt_solver.h 第 346 行定义.

◆ target_

template<typename PointSource , typename PointTarget >

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

protected

A pointer of input target point cloud.

在文件 ndt_solver.h 第 321 行定义.

◆ 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.

在文件 ndt_solver.h 第 326 行定义.

◆ target_tree_

template<typename PointSource , typename PointTarget >

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

protected

A pointer to the spatial search object.

在文件 ndt_solver.h 第 323 行定义.

◆ 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].

在文件 ndt_solver.h 第 355 行定义.

◆ transformation_

template<typename PointSource , typename PointTarget >

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

protected

在文件 ndt_solver.h 第 337 行定义.

◆ transformation_epsilon_

template<typename PointSource , typename PointTarget >

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

protected

Transformation epsilon parameter.

在文件 ndt_solver.h 第 342 行定义.

该类的文档由以下文件生成:

modules/localization/ndt/ndt_locator/ndt_solver.h

Public 类型

Public 成员函数

静态 Public 成员函数

Protected 类型

Protected 成员函数

Protected 属性

详细描述

成员类型定义说明

◆ ConstPtr

◆ KdTree

◆ KdTreePtr

◆ PointCloudSource

◆ PointCloudSourceConstPtr

◆ PointCloudSourcePtr

◆ PointCloudTarget

◆ PointCloudTargetConstPtr

◆ Ptr

◆ TargetGrid

◆ TargetGridConstPtr

◆ TargetGridLeafConstPtr

◆ TargetGridPtr

构造及析构函数说明

◆ NormalDistributionsTransform()

◆ ~NormalDistributionsTransform()

成员函数说明

◆ 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()

类成员变量说明

◆ 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_