44 #include <pcl/registration/registration.h>
59 template <
typename Po
intSource,
typename Po
intTarget>
63 typedef typename PointCloudSource::Ptr PointCloudSourcePtr;
64 typedef typename PointCloudSource::ConstPtr PointCloudSourceConstPtr;
73 typedef boost::shared_ptr< NormalDistributionsTransform2D<PointSource, PointTarget> >
Ptr;
74 typedef boost::shared_ptr< const NormalDistributionsTransform2D<PointSource, PointTarget> >
ConstPtr;
81 reg_name_ =
"NormalDistributionsTransform2D";
149 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
154 #include <pcl/registration/impl/ndt_2d.hpp>
156 #endif // ndef PCL_NDT_2D_H_
Eigen::Vector3d newton_lambda_
Eigen::Vector2f grid_centre_
NormalDistributionsTransform2D()
Empty constructor.
Registration represents the base registration class for general purpose, ICP-like methods...
boost::shared_ptr< const NormalDistributionsTransform2D< PointSource, PointTarget > > ConstPtr
virtual void computeTransformation(PointCloudSource &output, const Eigen::Matrix4f &guess)
Rigid transformation computation method with initial guess.
NormalDistributionsTransform2D provides an implementation of the Normal Distributions Transform algor...
virtual void setOptimizationStepSize(const Eigen::Vector3d &lambda)
NDT Newton optimisation step size parameter.
virtual void setOptimizationStepSize(const double &lambda)
NDT Newton optimisation step size parameter.
Eigen::Vector2f grid_step_
Eigen::Vector2f grid_extent_
boost::shared_ptr< ::pcl::PointIndices > Ptr
virtual void setGridCentre(const Eigen::Vector2f ¢re)
centre of the ndt grid (target coordinate system)
boost::shared_ptr< NormalDistributionsTransform2D< PointSource, PointTarget > > Ptr
virtual void setGridStep(const Eigen::Vector2f &step)
Grid spacing (step) of the NDT grid.
std::string reg_name_
The registration method name.
virtual ~NormalDistributionsTransform2D()
Empty destructor.
virtual void setGridExtent(const Eigen::Vector2f &extent)
NDT Grid extent (in either direction from the grid centre)
boost::shared_ptr< ::pcl::PointIndices const > ConstPtr