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
NormalDist *	normalDistForPoint (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.

Constructor & Destructor Documentation

◆ 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.

References pcl::ndt2d::NDTSingleGrid< PointT >::cells_, pcl::ndt2d::NDTSingleGrid< PointT >::normal_distributions_, and pcl::ndt2d::NDTSingleGrid< PointT >::normalDistForPoint().

Member Function Documentation

◆ 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.

References pcl::ndt2d::NDTSingleGrid< PointT >::cells_, pcl::ndt2d::NDTSingleGrid< PointT >::min_, pcl::ndt2d::NDTSingleGrid< PointT >::normal_distributions_, and pcl::ndt2d::NDTSingleGrid< PointT >::step_.

Referenced by pcl::ndt2d::NDTSingleGrid< PointT >::NDTSingleGrid(), and pcl::ndt2d::NDTSingleGrid< PointT >::test().

◆ 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.

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