ndt_2d.h

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#ifndef PCL_NDT_2D_H_
#define PCL_NDT_2D_H_

#include <pcl/registration/registration.h>

namespace pcl
{
  template <typename PointSource, typename PointTarget>
  class NormalDistributionsTransform2D : public Registration<PointSource, PointTarget>
  {
    typedef typename Registration<PointSource, PointTarget>::PointCloudSource PointCloudSource;
    typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
    typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;

    typedef typename Registration<PointSource, PointTarget>::PointCloudTarget PointCloudTarget;

    typedef PointIndices::Ptr PointIndicesPtr;
    typedef PointIndices::ConstPtr PointIndicesConstPtr;

    public:

        typedef boost::shared_ptr< NormalDistributionsTransform2D<PointSource, PointTarget> > Ptr;
        typedef boost::shared_ptr< const NormalDistributionsTransform2D<PointSource, PointTarget> > ConstPtr;

      NormalDistributionsTransform2D ()
        : Registration<PointSource,PointTarget> (),
          grid_centre_ (0,0), grid_step_ (1,1), grid_extent_ (20,20), newton_lambda_ (1,1,1)
      {
        reg_name_ = "NormalDistributionsTransform2D";
      }
      
      virtual ~NormalDistributionsTransform2D () {}
 
      virtual void
      setGridCentre (const Eigen::Vector2f& centre) { grid_centre_ = centre; }

      virtual void
      setGridStep (const Eigen::Vector2f& step) { grid_step_ = step; }

      virtual void
      setGridExtent (const Eigen::Vector2f& extent) { grid_extent_ = extent; }

       virtual void
       setOptimizationStepSize (const double& lambda) { newton_lambda_ = Eigen::Vector3d (lambda, lambda, lambda); }

       virtual void
       setOptimizationStepSize (const Eigen::Vector3d& lambda) { newton_lambda_ = lambda; }

    protected:
      virtual void 
      computeTransformation (PointCloudSource &output, const Eigen::Matrix4f &guess);

      using Registration<PointSource, PointTarget>::reg_name_;
      using Registration<PointSource, PointTarget>::target_;
      using Registration<PointSource, PointTarget>::converged_;
      using Registration<PointSource, PointTarget>::nr_iterations_;
      using Registration<PointSource, PointTarget>::max_iterations_;
      using Registration<PointSource, PointTarget>::transformation_epsilon_;
      using Registration<PointSource, PointTarget>::transformation_;
      using Registration<PointSource, PointTarget>::previous_transformation_;      
      using Registration<PointSource, PointTarget>::final_transformation_;
      using Registration<PointSource, PointTarget>::update_visualizer_;
      using Registration<PointSource, PointTarget>::indices_;

      Eigen::Vector2f grid_centre_;
      Eigen::Vector2f grid_step_;
      Eigen::Vector2f grid_extent_;
      Eigen::Vector3d newton_lambda_;
    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };

} // namespace pcl

#include <pcl/registration/impl/ndt_2d.hpp>

#endif // ndef PCL_NDT_2D_H_