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<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_8f93768a68ffc2367e7100c40b4e616a.html">small_gicp</a></li><li class="navelem"><a class="el" href="dir_c59a592f06e82849d331f7a80f9235b4.html">ann</a></li> </ul>
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<div class="title">gaussian_voxelmap.hpp</div> </div>
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<a href="gaussian__voxelmap_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// SPDX-FileCopyrightText: Copyright 2024 Kenji Koide</span></div>
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<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
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<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
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<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <Eigen/Core></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <Eigen/Geometry></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <<a class="code" href="ann_2traits_8hpp.html">small_gicp/ann/traits.hpp</a>></span></div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <<a class="code" href="points_2traits_8hpp.html">small_gicp/points/traits.hpp</a>></span></div>
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<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <<a class="code" href="incremental__voxelmap_8hpp.html">small_gicp/ann/incremental_voxelmap.hpp</a>></span></div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>  </div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  </div>
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<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html"> 15</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a> {</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel_1_1Setting.html"> 17</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1GaussianVoxel_1_1Setting.html">Setting</a> {};</div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div>
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<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#ac43593114a572cccbd60f815ec15ddf1"> 20</a></span>  <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ac43593114a572cccbd60f815ec15ddf1">GaussianVoxel</a>() : <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55">finalized</a>(false), <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">num_points</a>(0), <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a>(Eigen::Vector4d::Zero()), <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93">cov</a>(Eigen::Matrix4d::Zero()) {}</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
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<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#ad8cb35b05f87504f34b46dc1c9ea0c21"> 23</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ad8cb35b05f87504f34b46dc1c9ea0c21">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> 1; }</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  </div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud></div>
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<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#a8a54773b104d61219d1852f6d803d286"> 32</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a8a54773b104d61219d1852f6d803d286">add</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel_1_1Setting.html">Setting</a>& setting, <span class="keyword">const</span> Eigen::Vector4d& transformed_pt, <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>& points, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Isometry3d& T) {</div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55">finalized</a>) {</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  this-><a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55">finalized</a> = <span class="keyword">false</span>;</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  this-><a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a> *= <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">num_points</a>;</div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  this-><a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93">cov</a> *= <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">num_points</a>;</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  }</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">num_points</a>++;</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  this-><a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a> += transformed_pt;</div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  this-><a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93">cov</a> += T.matrix() * <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">traits::cov</a>(points, i) * T.matrix().transpose();</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  }</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
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<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#a5774bea62e6aee4d0a3c10f16f5ee2db"> 45</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a5774bea62e6aee4d0a3c10f16f5ee2db">finalize</a>() {</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55">finalized</a>) {</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <span class="keywordflow">return</span>;</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a> /= <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">num_points</a>;</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93">cov</a> /= <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">num_points</a>;</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55">finalized</a> = <span class="keyword">true</span>;</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  }</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55"> 56</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55">finalized</a>; </div>
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<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289"> 57</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">num_points</a>; </div>
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<div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116"> 58</a></span>  Eigen::Vector4d <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a>; </div>
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<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93"> 59</a></span>  Eigen::Matrix4d <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93">cov</a>; </div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> };</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">namespace </span>traits {</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">template</span> <></div>
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<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html"> 65</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1traits_1_1Traits.html">Traits</a><<a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>> {</div>
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<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a9f43845fab6f473d1c320f163a97e6f4"> 66</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a9f43845fab6f473d1c320f163a97e6f4">size</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel) { <span class="keywordflow">return</span> 1; }</div>
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<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#ac0344faece52ecffe36f9876604f2a14"> 67</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#ac0344faece52ecffe36f9876604f2a14">has_points</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel) { <span class="keywordflow">return</span> <span class="keyword">true</span>; }</div>
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<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a2d00039329224ee035d8415ae2d0185f"> 68</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a2d00039329224ee035d8415ae2d0185f">has_covs</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel) { <span class="keywordflow">return</span> <span class="keyword">true</span>; }</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
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<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a210829c25f82c9eb171b8419478d5de3"> 70</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d& <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a210829c25f82c9eb171b8419478d5de3">point</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> voxel.<a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a>; }</div>
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<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a6f4be0488eeee275610f1c037dc86a62"> 71</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d& <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a6f4be0488eeee275610f1c037dc86a62">cov</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> voxel.<a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93">cov</a>; }</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
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<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a137994233ad3ca5145f666fd3f331ca1"> 73</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a137994233ad3ca5145f666fd3f331ca1">nearest_neighbor_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel, <span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">size_t</span>* k_index, <span class="keywordtype">double</span>* k_sq_dist) {</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  *k_index = 0;</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  *k_sq_dist = (voxel.<a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a> - pt).squaredNorm();</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordflow">return</span> 1;</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  }</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
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<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a6a5b2c5182049e2fc75f8201794b4412"> 79</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a6a5b2c5182049e2fc75f8201794b4412">knn_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel, <span class="keyword">const</span> Eigen::Vector4d& pt, <span class="keywordtype">size_t</span> k, <span class="keywordtype">size_t</span>* k_index, <span class="keywordtype">double</span>* k_sq_dist) {</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesmall__gicp_1_1traits.html#a43ba0098721676800066972337fac872">nearest_neighbor_search</a>(voxel, pt, k_index, k_sq_dist);</div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> Result></div>
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<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a41b69aa72ba0c3e91319e5939df920ed"> 84</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a41b69aa72ba0c3e91319e5939df920ed">knn_search</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GaussianVoxel.html">GaussianVoxel</a>& voxel, <span class="keyword">const</span> Eigen::Vector4d& pt, Result& result) {</div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  result.push(0, (voxel.<a class="code" href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">mean</a> - pt).squaredNorm());</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  }</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> };</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> } <span class="comment">// namespace traits</span></div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
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<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="namespacesmall__gicp.html#adaa11356e0b17e2958ad077dab99ea9c"> 91</a></span> <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">GaussianVoxelMap</a> = <a class="code" href="structsmall__gicp_1_1IncrementalVoxelMap.html">IncrementalVoxelMap<GaussianVoxel></a>;</div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="aann_2traits_8hpp_html"><div class="ttname"><a href="ann_2traits_8hpp.html">traits.hpp</a></div></div>
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<div class="ttc" id="aincremental__voxelmap_8hpp_html"><div class="ttname"><a href="incremental__voxelmap_8hpp.html">incremental_voxelmap.hpp</a></div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a43ba0098721676800066972337fac872"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a43ba0098721676800066972337fac872">small_gicp::traits::nearest_neighbor_search</a></div><div class="ttdeci">size_t nearest_neighbor_search(const T &tree, const Eigen::Vector4d &point, size_t *k_index, double *k_sq_dist)</div><div class="ttdoc">Find the nearest neighbor. If Traits<T>::nearest_neighbor_search is not defined, fallback to knn_sear...</div><div class="ttdef"><b>Definition:</b> traits.hpp:44</div></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ac9146681bcef16a4c73d3fd05ad295c7"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">small_gicp::traits::cov</a></div><div class="ttdeci">auto cov(const T &points, size_t i)</div><div class="ttdoc">Get i-th covariance. Only the top-left 3x3 matrix is filled, and the bottom row and the right col mus...</div><div class="ttdef"><b>Definition:</b> traits.hpp:52</div></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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<div class="ttc" id="apoints_2traits_8hpp_html"><div class="ttname"><a href="points_2traits_8hpp.html">traits.hpp</a></div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_1_1Setting_html"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel_1_1Setting.html">small_gicp::GaussianVoxel::Setting</a></div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:17</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html">small_gicp::GaussianVoxel</a></div><div class="ttdoc">Gaussian voxel that computes and stores voxel mean and covariance.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_a2816037f978ad6949a3c36d6889fed93"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#a2816037f978ad6949a3c36d6889fed93">small_gicp::GaussianVoxel::cov</a></div><div class="ttdeci">Eigen::Matrix4d cov</div><div class="ttdoc">Covariance.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:59</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_a3ad10f22b09bc1514b9337479321a116"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#a3ad10f22b09bc1514b9337479321a116">small_gicp::GaussianVoxel::mean</a></div><div class="ttdeci">Eigen::Vector4d mean</div><div class="ttdoc">Mean.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:58</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_a5774bea62e6aee4d0a3c10f16f5ee2db"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#a5774bea62e6aee4d0a3c10f16f5ee2db">small_gicp::GaussianVoxel::finalize</a></div><div class="ttdeci">void finalize()</div><div class="ttdoc">Finalize the voxel mean and covariance.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:45</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_a8a54773b104d61219d1852f6d803d286"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#a8a54773b104d61219d1852f6d803d286">small_gicp::GaussianVoxel::add</a></div><div class="ttdeci">void add(const Setting &setting, const Eigen::Vector4d &transformed_pt, const PointCloud &points, size_t i, const Eigen::Isometry3d &T)</div><div class="ttdoc">Add a point to the voxel.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:32</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_ac43593114a572cccbd60f815ec15ddf1"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#ac43593114a572cccbd60f815ec15ddf1">small_gicp::GaussianVoxel::GaussianVoxel</a></div><div class="ttdeci">GaussianVoxel()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:20</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_ad8cb35b05f87504f34b46dc1c9ea0c21"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#ad8cb35b05f87504f34b46dc1c9ea0c21">small_gicp::GaussianVoxel::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points in the voxel (Always 1 for GaussianVoxel).</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:23</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_ae93a654ca2faf257c59639a4b09b7a55"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#ae93a654ca2faf257c59639a4b09b7a55">small_gicp::GaussianVoxel::finalized</a></div><div class="ttdeci">bool finalized</div><div class="ttdoc">If true, mean and cov are finalized, otherwise they represent the sum of input points.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:56</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussianVoxel_html_aeb48036d78779d4600a65018bf33c289"><div class="ttname"><a href="structsmall__gicp_1_1GaussianVoxel.html#aeb48036d78779d4600a65018bf33c289">small_gicp::GaussianVoxel::num_points</a></div><div class="ttdeci">size_t num_points</div><div class="ttdoc">Number of input points.</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:57</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1IncrementalVoxelMap_html"><div class="ttname"><a href="structsmall__gicp_1_1IncrementalVoxelMap.html">small_gicp::IncrementalVoxelMap</a></div><div class="ttdoc">Incremental voxelmap. This class supports incremental point cloud insertion and LRU-based voxel delet...</div><div class="ttdef"><b>Definition:</b> incremental_voxelmap.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html">small_gicp::PointCloud</a></div><div class="ttdoc">Point cloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_a137994233ad3ca5145f666fd3f331ca1"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a137994233ad3ca5145f666fd3f331ca1">small_gicp::traits::Traits< GaussianVoxel >::nearest_neighbor_search</a></div><div class="ttdeci">static size_t nearest_neighbor_search(const GaussianVoxel &voxel, const Eigen::Vector4d &pt, size_t *k_index, double *k_sq_dist)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:73</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_a210829c25f82c9eb171b8419478d5de3"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a210829c25f82c9eb171b8419478d5de3">small_gicp::traits::Traits< GaussianVoxel >::point</a></div><div class="ttdeci">static const Eigen::Vector4d & point(const GaussianVoxel &voxel, size_t i)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:70</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_a2d00039329224ee035d8415ae2d0185f"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a2d00039329224ee035d8415ae2d0185f">small_gicp::traits::Traits< GaussianVoxel >::has_covs</a></div><div class="ttdeci">static bool has_covs(const GaussianVoxel &voxel)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:68</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_a41b69aa72ba0c3e91319e5939df920ed"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a41b69aa72ba0c3e91319e5939df920ed">small_gicp::traits::Traits< GaussianVoxel >::knn_search</a></div><div class="ttdeci">static void knn_search(const GaussianVoxel &voxel, const Eigen::Vector4d &pt, Result &result)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:84</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_a6a5b2c5182049e2fc75f8201794b4412"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a6a5b2c5182049e2fc75f8201794b4412">small_gicp::traits::Traits< GaussianVoxel >::knn_search</a></div><div class="ttdeci">static size_t knn_search(const GaussianVoxel &voxel, const Eigen::Vector4d &pt, size_t k, size_t *k_index, double *k_sq_dist)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:79</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_a6f4be0488eeee275610f1c037dc86a62"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a6f4be0488eeee275610f1c037dc86a62">small_gicp::traits::Traits< GaussianVoxel >::cov</a></div><div class="ttdeci">static const Eigen::Matrix4d & cov(const GaussianVoxel &voxel, size_t i)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:71</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_a9f43845fab6f473d1c320f163a97e6f4"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#a9f43845fab6f473d1c320f163a97e6f4">small_gicp::traits::Traits< GaussianVoxel >::size</a></div><div class="ttdeci">static size_t size(const GaussianVoxel &voxel)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:66</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4_html_ac0344faece52ecffe36f9876604f2a14"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01GaussianVoxel_01_4.html#ac0344faece52ecffe36f9876604f2a14">small_gicp::traits::Traits< GaussianVoxel >::has_points</a></div><div class="ttdeci">static bool has_points(const GaussianVoxel &voxel)</div><div class="ttdef"><b>Definition:</b> gaussian_voxelmap.hpp:67</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_html"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits.html">small_gicp::traits::Traits</a></div><div class="ttdef"><b>Definition:</b> traits.hpp:13</div></div>
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