Point Cloud Library (PCL)  1.9.1-dev
pcl::ndt2d::NDT2D< PointT > Class Template Reference

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

`#include <pcl/registration/impl/ndt_2d.hpp>` Inheritance diagram for pcl::ndt2d::NDT2D< PointT >:

## Public Member Functions

NDT2D (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. More...

## Protected Attributes

std::shared_ptr< SingleGridsingle_grids_ 

## Detailed Description

### template<typename PointT> class pcl::ndt2d::NDT2D< 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 305 of file ndt_2d.hpp.

## ◆ NDT2D()

template<typename PointT>
 pcl::ndt2d::NDT2D< PointT >::NDT2D ( 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 318 of file ndt_2d.hpp.

## ◆ test()

template<typename PointT>
 ValueAndDerivatives<3,double> pcl::ndt2d::NDT2D< 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 337 of file ndt_2d.hpp.

## ◆ single_grids_

template<typename PointT>
 std::shared_ptr pcl::ndt2d::NDT2D< PointT >::single_grids_
protected

Definition at line 346 of file ndt_2d.hpp.

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