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

Build a set of normal distributions modelling a 2D point cloud, and provide the value and derivatives of the model at any point via the test (...) function. More...

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

List of all members.

Public Member Functions
	NDTSingleGrid (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::NDTSingleGrid< PointT >

Build a set of normal distributions modelling a 2D point cloud, and provide the value and derivatives of the model at any point via the test (...) function.

Definition at line 215 of file ndt.hpp.

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Constructor & Destructor Documentation

template<typename PointT >

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

Definition at line 222 of file ndt.hpp.

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Member Function Documentation

template<typename PointT >

ValueAndDerivatives<3,double> pcl::ndt::NDTSingleGrid< 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 256 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