pcl::ndt::NDT< PointT > Class Template Reference

Build a Normal Distributions Transform of a 2D point cloud. More...

#include <pcl/registration/impl/ndt.hpp>

List of all members.

Public Member Functions
	NDT (PointCloudConstPtr cloud, const Eigen::Vector2f &about, const Eigen::Vector2f &extent, const Eigen::Vector2f &step)
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.

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Detailed Description

template<typename PointT>
class pcl::ndt::NDT< PointT >

Build a Normal Distributions Transform of a 2D point cloud.

This consists of the sum of four overlapping models of the original points with normal distributions. The value and derivatives of the model at any point can be evaluated with the test (...) function.

Definition at line 302 of file ndt.hpp.

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Constructor & Destructor Documentation

template<typename PointT >

pcl::ndt::NDT< PointT >::NDT	(	PointCloudConstPtr	cloud,
		const Eigen::Vector2f &	about,
		const Eigen::Vector2f &	extent,
		const Eigen::Vector2f &	step
	)		[inline]

Parameters:

[in]	cloud	the input point cloud
[in]	about	Centre of the grid for normal distributions model
[in]	extent	Extent of grid for normal distributions model
[in]	step	Size of region that each normal distribution will model

Definition at line 315 of file ndt.hpp.

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Member Function Documentation

template<typename PointT >

ValueAndDerivatives<3,double> pcl::ndt::NDT< 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

Definition at line 334 of file ndt.hpp.

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

• /builddir/build/BUILD/PCL-1.4.0-Source/registration/include/pcl/registration/impl/ndt.hpp