pcl::ndt2d::NDT2D< PointT > Class Template Reference

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. More...

#include <ndt_2d.hpp>

List of all members.

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.
Protected Attributes
boost::shared_ptr< SingleGrid >	single_grids_ [4]
Private Types
typedef pcl::PointCloud< PointT >	PointCloud
typedef pcl::PointCloud < PointT >::ConstPtr	PointCloudConstPtr
typedef NDTSingleGrid< PointT >	SingleGrid

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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 305 of file ndt_2d.hpp.

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Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> pcl::ndt2d::NDT2D< PointT >::PointCloud [private]

Definition at line 307 of file ndt_2d.hpp.

template<typename PointT>

typedef pcl::PointCloud<PointT>::ConstPtr pcl::ndt2d::NDT2D< PointT >::PointCloudConstPtr [private]

Definition at line 308 of file ndt_2d.hpp.

template<typename PointT>

typedef NDTSingleGrid<PointT> pcl::ndt2d::NDT2D< PointT >::SingleGrid [private]

Definition at line 309 of file ndt_2d.hpp.

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Constructor & Destructor Documentation

template<typename PointT>

pcl::ndt2d::NDT2D< PointT >::NDT2D	(	PointCloudConstPtr	cloud,
		const Eigen::Vector2f &	about,
		const Eigen::Vector2f &	extent,
		const Eigen::Vector2f &	step
	)		[inline]

Parameters:

[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 318 of file ndt_2d.hpp.

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Member Function Documentation

template<typename PointT>

ValueAndDerivatives<3,double> pcl::ndt2d::NDT2D< 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 337 of file ndt_2d.hpp.

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Member Data Documentation

template<typename PointT>

boost::shared_ptr<SingleGrid> pcl::ndt2d::NDT2D< PointT >::single_grids_[4] [protected]

Definition at line 346 of file ndt_2d.hpp.

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

• ndt_2d.hpp