Point Cloud Library (PCL)  1.14.1-dev
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 >:
Collaboration 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 219 of file ndt_2d.hpp.

## ◆ NDTSingleGrid()

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.

## ◆ normalDistForPoint()

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] p a point

Definition at line 281 of file ndt_2d.hpp.

## ◆ test()

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_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 264 of file ndt_2d.hpp.

## ◆ cells_

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

Definition at line 299 of file ndt_2d.hpp.

## ◆ max_

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

Definition at line 297 of file ndt_2d.hpp.

## ◆ min_

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

Definition at line 296 of file ndt_2d.hpp.

## ◆ normal_distributions_

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

Definition at line 301 of file ndt_2d.hpp.

## ◆ step_

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

Definition at line 298 of file ndt_2d.hpp.

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