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 >:
Collaboration 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< SingleGrid > | single_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 311 of file ndt_2d.hpp.
Constructor & Destructor Documentation
◆ NDT2D()
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inline |
- Parameters
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[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 323 of file ndt_2d.hpp.
References pcl::ndt2d::NDT2D< PointT >::single_grids_.
Member Function Documentation
◆ test()
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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 344 of file ndt_2d.hpp.
References pcl::ndt2d::NDT2D< PointT >::single_grids_, and pcl::ndt2d::ValueAndDerivatives< N, T >::Zero().
Referenced by pcl::NormalDistributionsTransform2D< PointSource, PointTarget >::computeTransformation().
Member Data Documentation
◆ single_grids_
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protected |
Definition at line 355 of file ndt_2d.hpp.
Referenced by pcl::ndt2d::NDT2D< PointT >::NDT2D(), and pcl::ndt2d::NDT2D< PointT >::test().
The documentation for this class was generated from the following file:
- pcl/registration/impl/ndt_2d.hpp