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 <ndt_2d.hpp>

List of all members.

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.
Protected Member Functions
NormalDist *	normalDistForPoint (PointT const &p) const
	Return the normal distribution covering the location of point p.
Protected Attributes
Eigen::Vector2i	cells_
Eigen::Vector2f	max_
Eigen::Vector2f	min_
Eigen::Matrix< NormalDist, Eigen::Dynamic, Eigen::Dynamic >	normal_distributions_
Eigen::Vector2f	step_
Private Types
typedef pcl::ndt2d::NormalDist < PointT >	NormalDist
typedef pcl::PointCloud< PointT >	PointCloud
typedef pcl::PointCloud < PointT >::ConstPtr	PointCloudConstPtr

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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.

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Member Typedef Documentation

template<typename PointT >

typedef pcl::ndt2d::NormalDist<PointT> pcl::ndt2d::NDTSingleGrid< PointT >::NormalDist [private]

Definition at line 222 of file ndt_2d.hpp.

template<typename PointT >

typedef pcl::PointCloud<PointT> pcl::ndt2d::NDTSingleGrid< PointT >::PointCloud [private]

Definition at line 220 of file ndt_2d.hpp.

template<typename PointT >

typedef pcl::PointCloud<PointT>::ConstPtr pcl::ndt2d::NDTSingleGrid< PointT >::PointCloudConstPtr [private]

Definition at line 221 of file ndt_2d.hpp.

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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.

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Member Function Documentation

template<typename PointT >

NormalDist* pcl::ndt2d::NDTSingleGrid< PointT >::normalDistForPoint

(

PointT const &

p

)

const [inline, protected]

Return the normal distribution covering the location of point p.

Parameters:

[in]

p

a 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_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 259 of file ndt_2d.hpp.

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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.

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

• ndt_2d.hpp