Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Attributes
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

boost::shared_ptr< SingleGridsingle_grids_ [4]
 

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.

Constructor & Destructor Documentation

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]cloudthe input point cloud
[in]aboutCentre of the grid for normal distributions model
[in]extentExtent of grid for normal distributions model
[in]stepSize of region that each normal distribution will model

Definition at line 318 of file ndt_2d.hpp.

Member Function Documentation

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_ptLocation to evaluate at.
[in]cos_thetasin(theta) of the current rotation angle of rigid transformation: to avoid repeated evaluation
[in]sin_thetacos(theta) of the current rotation angle of rigid transformation: to avoid repeated evaluation

Definition at line 337 of file ndt_2d.hpp.

References pcl::ndt2d::ValueAndDerivatives< N, T >::Zero().

Referenced by pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::computeTransformation().

Member Data Documentation

template<typename PointT>
boost::shared_ptr<SingleGrid> pcl::ndt2d::NDT2D< PointT >::single_grids_[4]
protected

Definition at line 346 of file ndt_2d.hpp.


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