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<div class="title">optimizer.hpp</div> </div>
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<a href="optimizer_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 <iostream></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</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="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <<a class="code" href="registration__result_8hpp.html">small_gicp/registration/registration_result.hpp</a>></span></div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>  </div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</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="l00010"></a><span class="lineno"> 10</span>  </div>
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<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussNewtonOptimizer.html"> 12</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html">GaussNewtonOptimizer</a> {</div>
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<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a46ee36ddc1c4b355d6d395221b3d2c3e"> 13</a></span>  <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a46ee36ddc1c4b355d6d395221b3d2c3e">GaussNewtonOptimizer</a>() : <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#aaa8ae38db084352d262a4a6c9ca093ff">verbose</a>(false), <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#afe789412523a8b6f1b49fa6137801f58">max_iterations</a>(20), <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a69d4618a3c0bd0edeb1295e40ba15c92">lambda</a>(1e-6) {}</div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keyword">template</span> <</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">typename</span> TargetPointCloud,</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keyword">typename</span> SourcePointCloud,</div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keyword">typename</span> TargetTree,</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  <span class="keyword">typename</span> CorrespondenceRejector,</div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  <span class="keyword">typename</span> <a class="code" href="structsmall__gicp_1_1TerminationCriteria.html">TerminationCriteria</a>,</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <span class="keyword">typename</span> Reduction,</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">typename</span> Factor,</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">typename</span> GeneralFactor></div>
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<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a5d105fdc449bf75a5d19a734aa198417"> 24</a></span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a5d105fdc449bf75a5d19a734aa198417">optimize</a>(</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">const</span> TargetPointCloud& target,</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">const</span> SourcePointCloud& source,</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keyword">const</span> TargetTree& target_tree,</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keyword">const</span> CorrespondenceRejector& rejector,</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1TerminationCriteria.html">TerminationCriteria</a>& criteria,</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  Reduction& reduction,</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">const</span> Eigen::Isometry3d& init_T,</div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  std::vector<Factor>& factors,</div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  GeneralFactor& general_factor)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="comment">//</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#aaa8ae38db084352d262a4a6c9ca093ff">verbose</a>) {</div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  std::cout << <span class="stringliteral">"--- GN optimization ---"</span> << std::endl;</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_1RegistrationResult.html">RegistrationResult</a> result(init_T);</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#afe789412523a8b6f1b49fa6137801f58">max_iterations</a> && !result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">converged</a>; i++) {</div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="comment">// Linearize</span></div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">auto</span> [H, b, e] = reduction.linearize(target, source, target_tree, rejector, result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a>, factors);</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  general_factor.update_linearized_system(target, source, target_tree, result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a>, &H, &b, &e);</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>  <span class="comment">// Solve linear system</span></div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keyword">const</span> Eigen::Matrix<double, 6, 1> delta = (H + <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a69d4618a3c0bd0edeb1295e40ba15c92">lambda</a> * Eigen ::Matrix<double, 6, 6>::Identity()).ldlt().solve(-b);</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#aaa8ae38db084352d262a4a6c9ca093ff">verbose</a>) {</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  std::cout << <span class="stringliteral">"iter="</span> << i << <span class="stringliteral">" e="</span> << e << <span class="stringliteral">" lambda="</span> << <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a69d4618a3c0bd0edeb1295e40ba15c92">lambda</a> << <span class="stringliteral">" dt="</span> << delta.tail<3>().norm() << <span class="stringliteral">" dr="</span> << delta.head<3>().norm() << std::endl;</div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  }</div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">converged</a> = criteria.<a class="code" href="structsmall__gicp_1_1TerminationCriteria.html#a480ad19bfecb48ea358f7d0985a7bb15">converged</a>(delta);</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a> = result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a> * <a class="code" href="namespacesmall__gicp.html#a0eae106c70deac5c20205c70c4bdaf3c">se3_exp</a>(delta);</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a6b0cc9f0812e2baefb547851660cef02">iterations</a> = i;</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a67f654ebc44255f4e74d91f9348c77a6">H</a> = H;</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a8f361198c487333477a8dc0e0efd7991">b</a> = b;</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#ad7842fe29e514f215c711a00ae8a994b">error</a> = e;</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  }</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a983e9c98d44b396ff28a0a2482d89f77">num_inliers</a> = std::count_if(factors.begin(), factors.end(), [](<span class="keyword">const</span> <span class="keyword">auto</span>& factor) { return factor.inlier(); });</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="keywordflow">return</span> result;</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>  </div>
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<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#aaa8ae38db084352d262a4a6c9ca093ff"> 65</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#aaa8ae38db084352d262a4a6c9ca093ff">verbose</a>; </div>
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<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#afe789412523a8b6f1b49fa6137801f58"> 66</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#afe789412523a8b6f1b49fa6137801f58">max_iterations</a>; </div>
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<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a69d4618a3c0bd0edeb1295e40ba15c92"> 67</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a69d4618a3c0bd0edeb1295e40ba15c92">lambda</a>; </div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</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="l00071"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html"> 71</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html">LevenbergMarquardtOptimizer</a> {</div>
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<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a46727d0ae0fc56bd9ae37bd2596fc80a"> 72</a></span>  <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a46727d0ae0fc56bd9ae37bd2596fc80a">LevenbergMarquardtOptimizer</a>() : <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a2038430b5ed36df002cdccde234a5e80">verbose</a>(false), <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab3fcba80c8299cb3ec4ceddd9d7abe69">max_iterations</a>(20), <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a1b4b84e80854bc6dacc4e129e35fb3e1">max_inner_iterations</a>(10), <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a63a238f9ff21e3e966e97695b0bbc5bd">init_lambda</a>(1e-3), <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a5917b1cca0ec31082a32c95c0c69db96">lambda_factor</a>(10.0) {}</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">template</span> <</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keyword">typename</span> TargetPointCloud,</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">typename</span> SourcePointCloud,</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keyword">typename</span> TargetTree,</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">typename</span> CorrespondenceRejector,</div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">typename</span> <a class="code" href="structsmall__gicp_1_1TerminationCriteria.html">TerminationCriteria</a>,</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keyword">typename</span> Reduction,</div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">typename</span> Factor,</div>
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<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keyword">typename</span> GeneralFactor></div>
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<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab8e7217c12d637b9b58292e2976bd8c8"> 83</a></span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab8e7217c12d637b9b58292e2976bd8c8">optimize</a>(</div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">const</span> TargetPointCloud& target,</div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">const</span> SourcePointCloud& source,</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">const</span> TargetTree& target_tree,</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keyword">const</span> CorrespondenceRejector& rejector,</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1TerminationCriteria.html">TerminationCriteria</a>& criteria,</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  Reduction& reduction,</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">const</span> Eigen::Isometry3d& init_T,</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  std::vector<Factor>& factors,</div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  GeneralFactor& general_factor)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="comment">//</span></div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a2038430b5ed36df002cdccde234a5e80">verbose</a>) {</div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  std::cout << <span class="stringliteral">"--- LM optimization ---"</span> << std::endl;</div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  </div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">double</span> lambda = <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a63a238f9ff21e3e966e97695b0bbc5bd">init_lambda</a>;</div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <a class="code" href="structsmall__gicp_1_1RegistrationResult.html">RegistrationResult</a> result(init_T);</div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab3fcba80c8299cb3ec4ceddd9d7abe69">max_iterations</a> && !result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">converged</a>; i++) {</div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="comment">// Linearize</span></div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">auto</span> [H, b, e] = reduction.linearize(target, source, target_tree, rejector, result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a>, factors);</div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  general_factor.update_linearized_system(target, source, target_tree, result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a>, &H, &b, &e);</div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="comment">// Lambda iteration</span></div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordtype">bool</span> success = <span class="keyword">false</span>;</div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a1b4b84e80854bc6dacc4e129e35fb3e1">max_inner_iterations</a>; j++) {</div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="comment">// Solve with damping</span></div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">const</span> Eigen::Matrix<double, 6, 1> delta = (H + lambda * Eigen::Matrix<double, 6, 6>::Identity()).ldlt().solve(-b);</div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="comment">// Validte new solution</span></div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">const</span> Eigen::Isometry3d new_T = result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a> * <a class="code" href="namespacesmall__gicp.html#a0eae106c70deac5c20205c70c4bdaf3c">se3_exp</a>(delta);</div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordtype">double</span> new_e = reduction.error(target, source, new_T, factors);</div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  general_factor.update_error(target, source, new_T, &e);</div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">if</span> (<a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a2038430b5ed36df002cdccde234a5e80">verbose</a>) {</div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  std::cout << <span class="stringliteral">"iter="</span> << i << <span class="stringliteral">" inner="</span> << j << <span class="stringliteral">" e="</span> << e << <span class="stringliteral">" new_e="</span> << new_e << <span class="stringliteral">" lambda="</span> << lambda << <span class="stringliteral">" dt="</span> << delta.tail<3>().norm()</div>
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<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  << <span class="stringliteral">" dr="</span> << delta.head<3>().norm() << std::endl;</div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div>
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<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">if</span> (new_e <= e) {</div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="comment">// Error decreased, decrease lambda</span></div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">converged</a> = criteria.<a class="code" href="structsmall__gicp_1_1TerminationCriteria.html#a480ad19bfecb48ea358f7d0985a7bb15">converged</a>(delta);</div>
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<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">T_target_source</a> = new_T;</div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  lambda /= <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a5917b1cca0ec31082a32c95c0c69db96">lambda_factor</a>;</div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  success = <span class="keyword">true</span>;</div>
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<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordflow">break</span>;</div>
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<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  } <span class="keywordflow">else</span> {</div>
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<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="comment">// Failed to decrease error, increase lambda</span></div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  lambda *= <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a5917b1cca0ec31082a32c95c0c69db96">lambda_factor</a>;</div>
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<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  }</div>
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<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  }</div>
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<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div>
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<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a6b0cc9f0812e2baefb547851660cef02">iterations</a> = i;</div>
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<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a67f654ebc44255f4e74d91f9348c77a6">H</a> = H;</div>
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<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a8f361198c487333477a8dc0e0efd7991">b</a> = b;</div>
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<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#ad7842fe29e514f215c711a00ae8a994b">error</a> = e;</div>
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<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
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<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordflow">if</span> (!success) {</div>
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<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">break</span>;</div>
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<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div>
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<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div>
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<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
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<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  result.<a class="code" href="structsmall__gicp_1_1RegistrationResult.html#a983e9c98d44b396ff28a0a2482d89f77">num_inliers</a> = std::count_if(factors.begin(), factors.end(), [](<span class="keyword">const</span> <span class="keyword">auto</span>& factor) { return factor.inlier(); });</div>
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<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
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<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordflow">return</span> result;</div>
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<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div>
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<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  </div>
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<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a2038430b5ed36df002cdccde234a5e80"> 150</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a2038430b5ed36df002cdccde234a5e80">verbose</a>; </div>
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<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab3fcba80c8299cb3ec4ceddd9d7abe69"> 151</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab3fcba80c8299cb3ec4ceddd9d7abe69">max_iterations</a>; </div>
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<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a1b4b84e80854bc6dacc4e129e35fb3e1"> 152</a></span>  <span class="keywordtype">int</span> <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a1b4b84e80854bc6dacc4e129e35fb3e1">max_inner_iterations</a>; </div>
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<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a63a238f9ff21e3e966e97695b0bbc5bd"> 153</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a63a238f9ff21e3e966e97695b0bbc5bd">init_lambda</a>; </div>
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<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a5917b1cca0ec31082a32c95c0c69db96"> 154</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a5917b1cca0ec31082a32c95c0c69db96">lambda_factor</a>; </div>
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<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> };</div>
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<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  </div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> } <span class="comment">// namespace small_gicp</span></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_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_a0eae106c70deac5c20205c70c4bdaf3c"><div class="ttname"><a href="namespacesmall__gicp.html#a0eae106c70deac5c20205c70c4bdaf3c">small_gicp::se3_exp</a></div><div class="ttdeci">Eigen::Isometry3d se3_exp(const Eigen::Matrix< double, 6, 1 > &a)</div><div class="ttdoc">SE3 expmap (Rotation-first).</div><div class="ttdef"><b>Definition:</b> lie.hpp:77</div></div>
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<div class="ttc" id="aregistration__result_8hpp_html"><div class="ttname"><a href="registration__result_8hpp.html">registration_result.hpp</a></div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussNewtonOptimizer_html"><div class="ttname"><a href="structsmall__gicp_1_1GaussNewtonOptimizer.html">small_gicp::GaussNewtonOptimizer</a></div><div class="ttdoc">GaussNewton optimizer.</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:12</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussNewtonOptimizer_html_a46ee36ddc1c4b355d6d395221b3d2c3e"><div class="ttname"><a href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a46ee36ddc1c4b355d6d395221b3d2c3e">small_gicp::GaussNewtonOptimizer::GaussNewtonOptimizer</a></div><div class="ttdeci">GaussNewtonOptimizer()</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:13</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussNewtonOptimizer_html_a5d105fdc449bf75a5d19a734aa198417"><div class="ttname"><a href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a5d105fdc449bf75a5d19a734aa198417">small_gicp::GaussNewtonOptimizer::optimize</a></div><div class="ttdeci">RegistrationResult optimize(const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const CorrespondenceRejector &rejector, const TerminationCriteria &criteria, Reduction &reduction, const Eigen::Isometry3d &init_T, std::vector< Factor > &factors, GeneralFactor &general_factor) const</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:24</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussNewtonOptimizer_html_a69d4618a3c0bd0edeb1295e40ba15c92"><div class="ttname"><a href="structsmall__gicp_1_1GaussNewtonOptimizer.html#a69d4618a3c0bd0edeb1295e40ba15c92">small_gicp::GaussNewtonOptimizer::lambda</a></div><div class="ttdeci">double lambda</div><div class="ttdoc">Damping factor (Increasing this makes optimization slow but stable)</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:67</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussNewtonOptimizer_html_aaa8ae38db084352d262a4a6c9ca093ff"><div class="ttname"><a href="structsmall__gicp_1_1GaussNewtonOptimizer.html#aaa8ae38db084352d262a4a6c9ca093ff">small_gicp::GaussNewtonOptimizer::verbose</a></div><div class="ttdeci">bool verbose</div><div class="ttdoc">If true, print debug messages.</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:65</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1GaussNewtonOptimizer_html_afe789412523a8b6f1b49fa6137801f58"><div class="ttname"><a href="structsmall__gicp_1_1GaussNewtonOptimizer.html#afe789412523a8b6f1b49fa6137801f58">small_gicp::GaussNewtonOptimizer::max_iterations</a></div><div class="ttdeci">int max_iterations</div><div class="ttdoc">Max number of optimization iterations.</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:66</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html">small_gicp::LevenbergMarquardtOptimizer</a></div><div class="ttdoc">LevenbergMarquardt optimizer.</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:71</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html_a1b4b84e80854bc6dacc4e129e35fb3e1"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a1b4b84e80854bc6dacc4e129e35fb3e1">small_gicp::LevenbergMarquardtOptimizer::max_inner_iterations</a></div><div class="ttdeci">int max_inner_iterations</div><div class="ttdoc">Max number of inner iterations (lambda-trial)</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:152</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html_a2038430b5ed36df002cdccde234a5e80"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a2038430b5ed36df002cdccde234a5e80">small_gicp::LevenbergMarquardtOptimizer::verbose</a></div><div class="ttdeci">bool verbose</div><div class="ttdoc">If true, print debug messages.</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:150</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html_a46727d0ae0fc56bd9ae37bd2596fc80a"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a46727d0ae0fc56bd9ae37bd2596fc80a">small_gicp::LevenbergMarquardtOptimizer::LevenbergMarquardtOptimizer</a></div><div class="ttdeci">LevenbergMarquardtOptimizer()</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:72</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html_a5917b1cca0ec31082a32c95c0c69db96"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a5917b1cca0ec31082a32c95c0c69db96">small_gicp::LevenbergMarquardtOptimizer::lambda_factor</a></div><div class="ttdeci">double lambda_factor</div><div class="ttdoc">Lambda increase factor.</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:154</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html_a63a238f9ff21e3e966e97695b0bbc5bd"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#a63a238f9ff21e3e966e97695b0bbc5bd">small_gicp::LevenbergMarquardtOptimizer::init_lambda</a></div><div class="ttdeci">double init_lambda</div><div class="ttdoc">Initial lambda (damping factor)</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:153</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html_ab3fcba80c8299cb3ec4ceddd9d7abe69"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab3fcba80c8299cb3ec4ceddd9d7abe69">small_gicp::LevenbergMarquardtOptimizer::max_iterations</a></div><div class="ttdeci">int max_iterations</div><div class="ttdoc">Max number of optimization iterations.</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:151</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LevenbergMarquardtOptimizer_html_ab8e7217c12d637b9b58292e2976bd8c8"><div class="ttname"><a href="structsmall__gicp_1_1LevenbergMarquardtOptimizer.html#ab8e7217c12d637b9b58292e2976bd8c8">small_gicp::LevenbergMarquardtOptimizer::optimize</a></div><div class="ttdeci">RegistrationResult optimize(const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const CorrespondenceRejector &rejector, const TerminationCriteria &criteria, Reduction &reduction, const Eigen::Isometry3d &init_T, std::vector< Factor > &factors, GeneralFactor &general_factor) const</div><div class="ttdef"><b>Definition:</b> optimizer.hpp:83</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html">small_gicp::RegistrationResult</a></div><div class="ttdoc">Registration result.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:11</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a156b87db24f26b489f2fc3b39031df4a"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a156b87db24f26b489f2fc3b39031df4a">small_gicp::RegistrationResult::T_target_source</a></div><div class="ttdeci">Eigen::Isometry3d T_target_source</div><div class="ttdoc">Estimated transformation.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:21</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a67f654ebc44255f4e74d91f9348c77a6"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a67f654ebc44255f4e74d91f9348c77a6">small_gicp::RegistrationResult::H</a></div><div class="ttdeci">Eigen::Matrix< double, 6, 6 > H</div><div class="ttdoc">Final information matrix.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:27</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a6b0cc9f0812e2baefb547851660cef02"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a6b0cc9f0812e2baefb547851660cef02">small_gicp::RegistrationResult::iterations</a></div><div class="ttdeci">size_t iterations</div><div class="ttdoc">Number of optimization iterations.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:24</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a8f361198c487333477a8dc0e0efd7991"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a8f361198c487333477a8dc0e0efd7991">small_gicp::RegistrationResult::b</a></div><div class="ttdeci">Eigen::Matrix< double, 6, 1 > b</div><div class="ttdoc">Final information vector.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:28</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_a983e9c98d44b396ff28a0a2482d89f77"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#a983e9c98d44b396ff28a0a2482d89f77">small_gicp::RegistrationResult::num_inliers</a></div><div class="ttdeci">size_t num_inliers</div><div class="ttdoc">Number of inliear points.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:25</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_aa392e951674da7d9c525f7e5e64618b0"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#aa392e951674da7d9c525f7e5e64618b0">small_gicp::RegistrationResult::converged</a></div><div class="ttdeci">bool converged</div><div class="ttdoc">If the optimization converged.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:23</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RegistrationResult_html_ad7842fe29e514f215c711a00ae8a994b"><div class="ttname"><a href="structsmall__gicp_1_1RegistrationResult.html#ad7842fe29e514f215c711a00ae8a994b">small_gicp::RegistrationResult::error</a></div><div class="ttdeci">double error</div><div class="ttdoc">Final error.</div><div class="ttdef"><b>Definition:</b> registration_result.hpp:29</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1TerminationCriteria_html"><div class="ttname"><a href="structsmall__gicp_1_1TerminationCriteria.html">small_gicp::TerminationCriteria</a></div><div class="ttdoc">Registration termination criteria.</div><div class="ttdef"><b>Definition:</b> termination_criteria.hpp:10</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1TerminationCriteria_html_a480ad19bfecb48ea358f7d0985a7bb15"><div class="ttname"><a href="structsmall__gicp_1_1TerminationCriteria.html#a480ad19bfecb48ea358f7d0985a7bb15">small_gicp::TerminationCriteria::converged</a></div><div class="ttdeci">bool converged(const Eigen::Matrix< double, 6, 1 > &delta) const</div><div class="ttdoc">Check the convergence.</div><div class="ttdef"><b>Definition:</b> termination_criteria.hpp:17</div></div>
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