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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_02fe799643ef17d8aa92a466d371d870.html">pcl</a></li> </ul>
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<div class="title">pcl_proxy.hpp</div> </div>
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<a href="pcl__proxy_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 <pcl/point_cloud.h></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="points_2traits_8hpp.html">small_gicp/points/traits.hpp</a>></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>  </div>
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<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="keyword">namespace </span><a class="code" href="namespacesmall__gicp.html">small_gicp</a> {</div>
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<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
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<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloudProxy.html"> 12</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">PointCloudProxy</a> {</div>
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<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloudProxy.html#a9631a3ba6f11da67e8abb6aa104b62cb"> 13</a></span>  <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a9631a3ba6f11da67e8abb6aa104b62cb">PointCloudProxy</a>(<span class="keyword">const</span> pcl::PointCloud<PointT>& <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">cloud</a>, std::vector<Eigen::Matrix4d>& <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>) : <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">cloud</a>(<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">cloud</a>), <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>(<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>) {}</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"><a class="line" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9"> 15</a></span>  <span class="keyword">const</span> pcl::PointCloud<PointT>& <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">cloud</a>; </div>
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<div class="line"><a name="l00016"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef"> 16</a></span>  std::vector<Eigen::Matrix4d>& <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>; </div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> };</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">namespace </span>traits {</div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html"> 21</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1traits_1_1Traits.html">Traits</a><<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">PointCloudProxy</a><PointT>> {</div>
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<div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#ad9471300e08dc8e71b19709c3641c2e3"> 22</a></span>  <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a> = <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">PointCloudProxy<PointT></a>;</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  </div>
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<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a0c23a6c7d29a22c813df27562622bc52"> 24</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a0c23a6c7d29a22c813df27562622bc52">size</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a>& points) { <span class="keywordflow">return</span> points.<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">cloud</a>.size(); }</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
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<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a4bc9882ac63bf0efeff5a02257181b0c"> 26</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a4bc9882ac63bf0efeff5a02257181b0c">has_points</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a>& points) { <span class="keywordflow">return</span> !points.<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">cloud</a>.points.empty(); }</div>
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<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#ac171f46d7d71f72c82e8b82e917ad50f"> 27</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#ac171f46d7d71f72c82e8b82e917ad50f">has_covs</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a>& points) { <span class="keywordflow">return</span> !points.<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>.empty(); }</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
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<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a9402c52f3da65560f68580fc5e2f2d6e"> 29</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Vector4d <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a9402c52f3da65560f68580fc5e2f2d6e">point</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a>& points, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> points.<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">cloud</a>.at(i).getVector4fMap().template cast<double>(); }</div>
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<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a121ab61fb10d407e28873ef61dc86d2b"> 30</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> Eigen::Matrix4d& <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a121ab61fb10d407e28873ef61dc86d2b">cov</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a>& points, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> points.<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>[i]; }</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
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<div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a905fe72d1baf786569d5a30d8c0f6084"> 32</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a905fe72d1baf786569d5a30d8c0f6084">resize</a>(<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a>& points, <span class="keywordtype">size_t</span> n) { points.<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>.resize(n); }</div>
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<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a0b46490c641c7b953f82ac2f0c8590d5"> 33</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a0b46490c641c7b953f82ac2f0c8590d5">set_cov</a>(<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html">Points</a>& points, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Matrix4d& <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">cov</a>) { points.<a class="code" href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">covs</a>[i] = <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">cov</a>; }</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> };</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="comment">// namespace traits</span></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> } <span class="comment">// namespace small_gicp</span></div>
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<div class="ttc" id="anamespacesmall__gicp_1_1traits_html_ac9146681bcef16a4c73d3fd05ad295c7"><div class="ttname"><a href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">small_gicp::traits::cov</a></div><div class="ttdeci">auto cov(const T &points, size_t i)</div><div class="ttdoc">Get i-th covariance. Only the top-left 3x3 matrix is filled, and the bottom row and the right col mus...</div><div class="ttdef"><b>Definition:</b> traits.hpp:52</div></div>
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<div class="ttc" id="anamespacesmall__gicp_html"><div class="ttname"><a href="namespacesmall__gicp.html">small_gicp</a></div><div class="ttdef"><b>Definition:</b> flat_container.hpp:12</div></div>
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<div class="ttc" id="apoints_2traits_8hpp_html"><div class="ttname"><a href="points_2traits_8hpp.html">traits.hpp</a></div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloudProxy_html"><div class="ttname"><a href="structsmall__gicp_1_1PointCloudProxy.html">small_gicp::PointCloudProxy</a></div><div class="ttdoc">Proxy class to access PCL point cloud with external covariance matrices.</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:12</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloudProxy_html_a16059cb2fb5e41622326bab5bc7367d9"><div class="ttname"><a href="structsmall__gicp_1_1PointCloudProxy.html#a16059cb2fb5e41622326bab5bc7367d9">small_gicp::PointCloudProxy::cloud</a></div><div class="ttdeci">const pcl::PointCloud< PointT > & cloud</div><div class="ttdoc">Point cloud.</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloudProxy_html_a9631a3ba6f11da67e8abb6aa104b62cb"><div class="ttname"><a href="structsmall__gicp_1_1PointCloudProxy.html#a9631a3ba6f11da67e8abb6aa104b62cb">small_gicp::PointCloudProxy::PointCloudProxy</a></div><div class="ttdeci">PointCloudProxy(const pcl::PointCloud< PointT > &cloud, std::vector< Eigen::Matrix4d > &covs)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:13</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloudProxy_html_a97a1fb2b6b6c481e503d9bcb0f0edeef"><div class="ttname"><a href="structsmall__gicp_1_1PointCloudProxy.html#a97a1fb2b6b6c481e503d9bcb0f0edeef">small_gicp::PointCloudProxy::covs</a></div><div class="ttdeci">std::vector< Eigen::Matrix4d > & covs</div><div class="ttdoc">Covariance matrices.</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:16</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4_html_a0b46490c641c7b953f82ac2f0c8590d5"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a0b46490c641c7b953f82ac2f0c8590d5">small_gicp::traits::Traits< PointCloudProxy< PointT > >::set_cov</a></div><div class="ttdeci">static void set_cov(Points &points, size_t i, const Eigen::Matrix4d &cov)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:33</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4_html_a0c23a6c7d29a22c813df27562622bc52"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a0c23a6c7d29a22c813df27562622bc52">small_gicp::traits::Traits< PointCloudProxy< PointT > >::size</a></div><div class="ttdeci">static size_t size(const Points &points)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:24</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4_html_a121ab61fb10d407e28873ef61dc86d2b"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a121ab61fb10d407e28873ef61dc86d2b">small_gicp::traits::Traits< PointCloudProxy< PointT > >::cov</a></div><div class="ttdeci">static const Eigen::Matrix4d & cov(const Points &points, size_t i)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:30</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4_html_a4bc9882ac63bf0efeff5a02257181b0c"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a4bc9882ac63bf0efeff5a02257181b0c">small_gicp::traits::Traits< PointCloudProxy< PointT > >::has_points</a></div><div class="ttdeci">static bool has_points(const Points &points)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:26</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4_html_a905fe72d1baf786569d5a30d8c0f6084"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a905fe72d1baf786569d5a30d8c0f6084">small_gicp::traits::Traits< PointCloudProxy< PointT > >::resize</a></div><div class="ttdeci">static void resize(Points &points, size_t n)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:32</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4_html_a9402c52f3da65560f68580fc5e2f2d6e"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#a9402c52f3da65560f68580fc5e2f2d6e">small_gicp::traits::Traits< PointCloudProxy< PointT > >::point</a></div><div class="ttdeci">static const Eigen::Vector4d point(const Points &points, size_t i)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:29</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4_html_ac171f46d7d71f72c82e8b82e917ad50f"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloudProxy_3_01PointT_01_4_01_4.html#ac171f46d7d71f72c82e8b82e917ad50f">small_gicp::traits::Traits< PointCloudProxy< PointT > >::has_covs</a></div><div class="ttdeci">static bool has_covs(const Points &points)</div><div class="ttdef"><b>Definition:</b> pcl_proxy.hpp:27</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_html"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits.html">small_gicp::traits::Traits</a></div><div class="ttdef"><b>Definition:</b> traits.hpp:13</div></div>
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