mirror of https://github.com/koide3/small_gicp.git
175 lines
26 KiB
HTML
175 lines
26 KiB
HTML
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
|
|
<meta name="generator" content="Doxygen 1.9.1"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>small_gicp: /home/runner/work/small_gicp/small_gicp/include/small_gicp/factors/gicp_factor.hpp Source File</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr style="height: 56px;">
|
|
<td id="projectalign" style="padding-left: 0.5em;">
|
|
<div id="projectname">small_gicp
|
|
</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.9.1 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
|
|
var searchBox = new SearchBox("searchBox", "search",false,'Search','.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&dn=gpl-2.0.txt GPL-v2 */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','Search');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */</script>
|
|
<div id="main-nav"></div>
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<iframe src="javascript:void(0)" frameborder="0"
|
|
name="MSearchResults" id="MSearchResults">
|
|
</iframe>
|
|
</div>
|
|
|
|
<div id="nav-path" class="navpath">
|
|
<ul>
|
|
<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_10d2ca31331a920e163404c3842c11af.html">factors</a></li> </ul>
|
|
</div>
|
|
</div><!-- top -->
|
|
<div class="header">
|
|
<div class="headertitle">
|
|
<div class="title">gicp_factor.hpp</div> </div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
<a href="gicp__factor_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>
|
|
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div>
|
|
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="preprocessor">#pragma once</span></div>
|
|
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>  </div>
|
|
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <Eigen/Core></span></div>
|
|
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <Eigen/Geometry></span></div>
|
|
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <<a class="code" href="lie_8hpp.html">small_gicp/util/lie.hpp</a>></span></div>
|
|
<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>
|
|
<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>
|
|
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
|
|
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
|
|
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
|
|
<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html"> 14</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1GICPFactor.html">GICPFactor</a> {</div>
|
|
<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor_1_1Setting.html"> 15</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1GICPFactor_1_1Setting.html">Setting</a> {};</div>
|
|
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
|
|
<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html#a503a2f5d85470b26ffe216eda9c2e1f7"> 18</a></span>  <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a503a2f5d85470b26ffe216eda9c2e1f7">GICPFactor</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1GICPFactor_1_1Setting.html">Setting</a>& setting = <a class="code" href="structsmall__gicp_1_1GICPFactor_1_1Setting.html">Setting</a>())</div>
|
|
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  : <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a>(std::numeric_limits<size_t>::max()),</div>
|
|
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>(std::numeric_limits<size_t>::max()),</div>
|
|
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">mahalanobis</a>(Eigen::Matrix4d::Zero()) {}</div>
|
|
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
|
|
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> TargetPo<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourcePo<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> TargetTree, <span class="keyword">typename</span> CorrespondenceRejector></div>
|
|
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html#a5f77a5e2aa00fad13ee1c5c50a873525"> 35</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f77a5e2aa00fad13ee1c5c50a873525">linearize</a>(</div>
|
|
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keyword">const</span> TargetPointCloud& target,</div>
|
|
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">const</span> SourcePointCloud& source,</div>
|
|
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keyword">const</span> TargetTree& target_tree,</div>
|
|
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keyword">const</span> Eigen::Isometry3d& T,</div>
|
|
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>,</div>
|
|
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">const</span> CorrespondenceRejector& rejector,</div>
|
|
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  Eigen::Matrix<double, 6, 6>* H,</div>
|
|
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  Eigen::Matrix<double, 6, 1>* b,</div>
|
|
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">double</span>* e) {</div>
|
|
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <span class="comment">//</span></div>
|
|
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  this->source_index = <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>;</div>
|
|
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  this-><a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a> = std::numeric_limits<size_t>::max();</div>
|
|
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  </div>
|
|
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">const</span> Eigen::Vector4d transed_source_pt = T * <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(source, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>);</div>
|
|
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
|
|
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordtype">size_t</span> k_index;</div>
|
|
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordtype">double</span> k_sq_dist;</div>
|
|
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">if</span> (!<a class="code" href="namespacesmall__gicp_1_1traits.html#a43ba0098721676800066972337fac872">traits::nearest_neighbor_search</a>(target_tree, transed_source_pt, &k_index, &k_sq_dist) || rejector(target, source, T, k_index, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>, k_sq_dist)) {</div>
|
|
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
|
|
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  }</div>
|
|
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
|
|
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a> = k_index;</div>
|
|
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  </div>
|
|
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">const</span> Eigen::Matrix4d RCR = <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">traits::cov</a>(target, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a>) + T.matrix() * <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">traits::cov</a>(source, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>) * T.matrix().transpose();</div>
|
|
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">mahalanobis</a>.block<3, 3>(0, 0) = RCR.block<3, 3>(0, 0).inverse();</div>
|
|
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
|
|
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">const</span> Eigen::Vector4d residual = <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(target, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a>) - transed_source_pt;</div>
|
|
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
|
|
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  Eigen::Matrix<double, 4, 6> J = Eigen::Matrix<double, 4, 6>::Zero();</div>
|
|
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  J.block<3, 3>(0, 0) = T.linear() * <a class="code" href="namespacesmall__gicp.html#a5d86f81a31b152060f1b1f72585fdaf5">skew</a>(<a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(source, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>).<span class="keyword">template</span> head<3>());</div>
|
|
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  J.block<3, 3>(0, 3) = -T.linear();</div>
|
|
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
|
|
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  *H = J.transpose() * <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">mahalanobis</a> * J;</div>
|
|
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  *b = J.transpose() * <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">mahalanobis</a> * residual;</div>
|
|
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  *e = 0.5 * residual.transpose() * <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">mahalanobis</a> * residual;</div>
|
|
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  </div>
|
|
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
|
|
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  }</div>
|
|
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
|
|
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> TargetPo<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourcePo<span class="keywordtype">int</span>Cloud></div>
|
|
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html#a9230f1e8ccfbed50e41c575f0f7820ba"> 81</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a9230f1e8ccfbed50e41c575f0f7820ba">error</a>(<span class="keyword">const</span> TargetPointCloud& target, <span class="keyword">const</span> SourcePointCloud& source, <span class="keyword">const</span> Eigen::Isometry3d& T)<span class="keyword"> const </span>{</div>
|
|
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a> == std::numeric_limits<size_t>::max()) {</div>
|
|
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">return</span> 0.0;</div>
|
|
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
|
|
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
|
|
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">const</span> Eigen::Vector4d transed_source_pt = T * <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(source, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>);</div>
|
|
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">const</span> Eigen::Vector4d residual = <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(target, <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a>) - transed_source_pt;</div>
|
|
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">return</span> 0.5 * residual.transpose() * <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">mahalanobis</a> * residual;</div>
|
|
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  }</div>
|
|
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  </div>
|
|
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html#a5507c92424e4595411aa33a1e1b947a9"> 92</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5507c92424e4595411aa33a1e1b947a9">inlier</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a> != std::numeric_limits<size_t>::max(); }</div>
|
|
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
|
|
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a"> 94</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">target_index</a>; </div>
|
|
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975"> 95</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">source_index</a>; </div>
|
|
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e"> 96</a></span>  Eigen::Matrix4d <a class="code" href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">mahalanobis</a>; </div>
|
|
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> };</div>
|
|
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> } <span class="comment">// namespace small_gicp</span></div>
|
|
<div class="ttc" id="aann_2traits_8hpp_html"><div class="ttname"><a href="ann_2traits_8hpp.html">traits.hpp</a></div></div>
|
|
<div class="ttc" id="alie_8hpp_html"><div class="ttname"><a href="lie_8hpp.html">lie.hpp</a></div></div>
|
|
<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>
|
|
<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_a66b660d3a0c2e81cdf06abc8efebdad1"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">small_gicp::traits::point</a></div><div class="ttdeci">auto point(const T &points, size_t i)</div><div class="ttdoc">Get i-th point. 4D vector is used to take advantage of SIMD intrinsics. The last element must be fill...</div><div class="ttdef"><b>Definition:</b> traits.hpp:40</div></div>
|
|
<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>
|
|
<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>
|
|
<div class="ttc" id="anamespacesmall__gicp_html_a5d86f81a31b152060f1b1f72585fdaf5"><div class="ttname"><a href="namespacesmall__gicp.html#a5d86f81a31b152060f1b1f72585fdaf5">small_gicp::skew</a></div><div class="ttdeci">Eigen::Matrix3d skew(const Eigen::Vector3d &x)</div><div class="ttdoc">Create skew symmetric matrix.</div><div class="ttdef"><b>Definition:</b> lie.hpp:13</div></div>
|
|
<div class="ttc" id="apoints_2traits_8hpp_html"><div class="ttname"><a href="points_2traits_8hpp.html">traits.hpp</a></div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_1_1Setting_html"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor_1_1Setting.html">small_gicp::GICPFactor::Setting</a></div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:15</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html">small_gicp::GICPFactor</a></div><div class="ttdoc">GICP (distribution-to-distribution) per-point error factor.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:14</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html_a503a2f5d85470b26ffe216eda9c2e1f7"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html#a503a2f5d85470b26ffe216eda9c2e1f7">small_gicp::GICPFactor::GICPFactor</a></div><div class="ttdeci">GICPFactor(const Setting &setting=Setting())</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:18</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html_a5507c92424e4595411aa33a1e1b947a9"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html#a5507c92424e4595411aa33a1e1b947a9">small_gicp::GICPFactor::inlier</a></div><div class="ttdeci">bool inlier() const</div><div class="ttdoc">Returns true if this factor is not rejected as an outlier.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:92</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html_a5a7e8217378777d0e4ed783110c05b5e"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html#a5a7e8217378777d0e4ed783110c05b5e">small_gicp::GICPFactor::mahalanobis</a></div><div class="ttdeci">Eigen::Matrix4d mahalanobis</div><div class="ttdoc">Fused precision matrix.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:96</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html_a5f2d35f2e6cbbd72c5bee234b12aa71a"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html#a5f2d35f2e6cbbd72c5bee234b12aa71a">small_gicp::GICPFactor::target_index</a></div><div class="ttdeci">size_t target_index</div><div class="ttdoc">Target point index.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:94</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html_a5f77a5e2aa00fad13ee1c5c50a873525"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html#a5f77a5e2aa00fad13ee1c5c50a873525">small_gicp::GICPFactor::linearize</a></div><div class="ttdeci">bool linearize(const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const Eigen::Isometry3d &T, size_t source_index, const CorrespondenceRejector &rejector, Eigen::Matrix< double, 6, 6 > *H, Eigen::Matrix< double, 6, 1 > *b, double *e)</div><div class="ttdoc">Linearize the factor.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:35</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html_a9230f1e8ccfbed50e41c575f0f7820ba"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html#a9230f1e8ccfbed50e41c575f0f7820ba">small_gicp::GICPFactor::error</a></div><div class="ttdeci">double error(const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T) const</div><div class="ttdoc">Evaluate error.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:81</div></div>
|
|
<div class="ttc" id="astructsmall__gicp_1_1GICPFactor_html_ab1317d012ed2f6a7472ae257d9296975"><div class="ttname"><a href="structsmall__gicp_1_1GICPFactor.html#ab1317d012ed2f6a7472ae257d9296975">small_gicp::GICPFactor::source_index</a></div><div class="ttdeci">size_t source_index</div><div class="ttdoc">Source point index.</div><div class="ttdef"><b>Definition:</b> gicp_factor.hpp:95</div></div>
|
|
</div><!-- fragment --></div><!-- contents -->
|
|
<!-- start footer part -->
|
|
<hr class="footer"/><address class="footer"><small>
|
|
Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
|
|
</small></address>
|
|
</body>
|
|
</html>
|