Module ndt_registration 

NDT (Normal Distributions Transform) registration algorithm

NDT is a point cloud registration method that represents the target point cloud as a set of normal distributions (one per voxel). It is more robust than ICP for large initial misalignments and sparse point clouds.

Reference: Biber & Straßer (2003), “The Normal Distributions Transform: A New Approach to Laser Scan Matching”

Structs

NdtConfig

Configuration for NDT registration

NdtResult

Result of NDT registration

Functions

ndt_registration

Run NDT registration to align source onto target.

ndt_registration_default

Convenience wrapper with default config