Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Member Functions | Protected Member Functions | Protected Attributes
pcl::ndt2d::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_2d.hpp>

+ Inheritance diagram for pcl::ndt2d::NDTSingleGrid< PointT >:

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. More...
 

Protected Member Functions

NormalDistnormalDistForPoint (PointT const &p) const
 Return the normal distribution covering the location of point p. More...
 

Protected Attributes

Eigen::Vector2f min_
 
Eigen::Vector2f max_
 
Eigen::Vector2f step_
 
Eigen::Vector2i cells_
 
Eigen::Matrix< NormalDist, Eigen::Dynamic, Eigen::Dynamic > normal_distributions_
 

Detailed Description

template<typename PointT>
class pcl::ndt2d::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 218 of file ndt_2d.hpp.

Constructor & Destructor Documentation

template<typename PointT >
pcl::ndt2d::NDTSingleGrid< PointT >::NDTSingleGrid ( PointCloudConstPtr  cloud,
const Eigen::Vector2f &  about,
const Eigen::Vector2f &  extent,
const Eigen::Vector2f &  step 
)
inline

Definition at line 225 of file ndt_2d.hpp.

References pcl::ndt2d::NormalDist< PointT >::addIdx().

Member Function Documentation

template<typename PointT >
NormalDist* pcl::ndt2d::NDTSingleGrid< PointT >::normalDistForPoint ( PointT const &  p) const
inlineprotected

Return the normal distribution covering the location of point p.

Parameters
[in]pa point

Definition at line 275 of file ndt_2d.hpp.

template<typename PointT >
ValueAndDerivatives<3,double> pcl::ndt2d::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_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 259 of file ndt_2d.hpp.

References pcl::ndt2d::NormalDist< PointT >::test(), and pcl::ndt2d::ValueAndDerivatives< N, T >::Zero().

Member Data Documentation

template<typename PointT >
Eigen::Vector2i pcl::ndt2d::NDTSingleGrid< PointT >::cells_
protected

Definition at line 293 of file ndt_2d.hpp.

template<typename PointT >
Eigen::Vector2f pcl::ndt2d::NDTSingleGrid< PointT >::max_
protected

Definition at line 291 of file ndt_2d.hpp.

template<typename PointT >
Eigen::Vector2f pcl::ndt2d::NDTSingleGrid< PointT >::min_
protected

Definition at line 290 of file ndt_2d.hpp.

template<typename PointT >
Eigen::Matrix<NormalDist, Eigen::Dynamic, Eigen::Dynamic> pcl::ndt2d::NDTSingleGrid< PointT >::normal_distributions_
protected

Definition at line 295 of file ndt_2d.hpp.

template<typename PointT >
Eigen::Vector2f pcl::ndt2d::NDTSingleGrid< PointT >::step_
protected

Definition at line 292 of file ndt_2d.hpp.


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