Contains the definitions of the 3D Normal Distributions Transform data structures, used for mapping, registration, etc.
ndt_map provides a data structure for creating an ndt transform, given a (set of) point cloud data of the environment. This package provides interfaces both for the basic NDT with a regular grid or oc tree indexing, as well as for the NDT-OM occupancy-aware representation.
The main class of interest to the users of this library is NDTMap.