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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_10d2ca31331a920e163404c3842c11af.html">factors</a></li> </ul>
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<div class="title">icp_factor.hpp</div> </div>
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<a href="icp__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>
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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> <span class="preprocessor">#include <<a class="code" href="lie_8hpp.html">small_gicp/util/lie.hpp</a>></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>  </div>
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<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>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
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<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor.html"> 14</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1ICPFactor.html">ICPFactor</a> {</div>
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<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor_1_1Setting.html"> 15</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1ICPFactor_1_1Setting.html">Setting</a> {};</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
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<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor.html#ae4dd0ddefea1d22e99fc6149b94a88c3"> 17</a></span>  <a class="code" href="structsmall__gicp_1_1ICPFactor.html#ae4dd0ddefea1d22e99fc6149b94a88c3">ICPFactor</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1ICPFactor_1_1Setting.html">Setting</a>& setting = <a class="code" href="structsmall__gicp_1_1ICPFactor_1_1Setting.html">Setting</a>()) : <a class="code" href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a>(std::numeric_limits<size_t>::max()), <a class="code" href="structsmall__gicp_1_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>(std::numeric_limits<size_t>::max()) {}</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="l00019"></a><span class="lineno"> 19</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>
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<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor.html#a25b89aee138d3c14445e4add03e17500"> 20</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1ICPFactor.html#a25b89aee138d3c14445e4add03e17500">linearize</a>(</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">const</span> TargetPointCloud& target,</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">const</span> SourcePointCloud& source,</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">const</span> TargetTree& target_tree,</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">const</span> Eigen::Isometry3d& T,</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>,</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">const</span> CorrespondenceRejector& rejector,</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  Eigen::Matrix<double, 6, 6>* H,</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  Eigen::Matrix<double, 6, 1>* b,</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keywordtype">double</span>* e) {</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="comment">//</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  this->source_index = <a class="code" href="structsmall__gicp_1_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>;</div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  this-><a class="code" href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a> = std::numeric_limits<size_t>::max();</div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  </div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</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_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>);</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordtype">size_t</span> k_index;</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordtype">double</span> k_sq_dist;</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</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_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>, k_sq_dist)) {</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  }</div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a> = k_index;</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</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_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a>) - transed_source_pt;</div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  Eigen::Matrix<double, 4, 6> J = Eigen::Matrix<double, 4, 6>::Zero();</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</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_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>).<span class="keyword">template</span> head<3>());</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  J.block<3, 3>(0, 3) = -T.linear();</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>  *H = J.transpose() * J;</div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  *b = J.transpose() * residual;</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  *e = 0.5 * residual.squaredNorm();</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  </div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keywordflow">return</span> <span class="keyword">true</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>  </div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</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>
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<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor.html#ac80402bc2806c7e2e71f4047781af3ea"> 57</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1ICPFactor.html#ac80402bc2806c7e2e71f4047781af3ea">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>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a> == std::numeric_limits<size_t>::max()) {</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span> 0.0;</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">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_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a>) - T * <a class="code" href="namespacesmall__gicp_1_1traits.html#a66b660d3a0c2e81cdf06abc8efebdad1">traits::point</a>(source, <a class="code" href="structsmall__gicp_1_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>);</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordflow">return</span> 0.5 * residual.squaredNorm();</div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  }</div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  </div>
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<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor.html#a86d8176e34209ec50462dda86b3e4474"> 66</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1ICPFactor.html#a86d8176e34209ec50462dda86b3e4474">inlier</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a> != std::numeric_limits<size_t>::max(); }</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
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<div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd"> 68</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">target_index</a>;</div>
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<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c"> 69</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">source_index</a>;</div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> };</div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</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="alie_8hpp_html"><div class="ttname"><a href="lie_8hpp.html">lie.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_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>
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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="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>
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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_1ICPFactor_1_1Setting_html"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor_1_1Setting.html">small_gicp::ICPFactor::Setting</a></div><div class="ttdef"><b>Definition:</b> icp_factor.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ICPFactor_html"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor.html">small_gicp::ICPFactor</a></div><div class="ttdoc">Point-to-point per-point error factor.</div><div class="ttdef"><b>Definition:</b> icp_factor.hpp:14</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ICPFactor_html_a25b89aee138d3c14445e4add03e17500"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor.html#a25b89aee138d3c14445e4add03e17500">small_gicp::ICPFactor::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="ttdef"><b>Definition:</b> icp_factor.hpp:20</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ICPFactor_html_a86d8176e34209ec50462dda86b3e4474"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor.html#a86d8176e34209ec50462dda86b3e4474">small_gicp::ICPFactor::inlier</a></div><div class="ttdeci">bool inlier() const</div><div class="ttdef"><b>Definition:</b> icp_factor.hpp:66</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ICPFactor_html_abfa6a1f0f030be1ad4226c238fc0a97c"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor.html#abfa6a1f0f030be1ad4226c238fc0a97c">small_gicp::ICPFactor::source_index</a></div><div class="ttdeci">size_t source_index</div><div class="ttdef"><b>Definition:</b> icp_factor.hpp:69</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ICPFactor_html_ac80402bc2806c7e2e71f4047781af3ea"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor.html#ac80402bc2806c7e2e71f4047781af3ea">small_gicp::ICPFactor::error</a></div><div class="ttdeci">double error(const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T) const</div><div class="ttdef"><b>Definition:</b> icp_factor.hpp:57</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ICPFactor_html_ae4dd0ddefea1d22e99fc6149b94a88c3"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor.html#ae4dd0ddefea1d22e99fc6149b94a88c3">small_gicp::ICPFactor::ICPFactor</a></div><div class="ttdeci">ICPFactor(const Setting &setting=Setting())</div><div class="ttdef"><b>Definition:</b> icp_factor.hpp:17</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ICPFactor_html_aed8be402d6311ea30616d90a006d88fd"><div class="ttname"><a href="structsmall__gicp_1_1ICPFactor.html#aed8be402d6311ea30616d90a006d88fd">small_gicp::ICPFactor::target_index</a></div><div class="ttdeci">size_t target_index</div><div class="ttdef"><b>Definition:</b> icp_factor.hpp:68</div></div>
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