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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_1e32283d4ab39246fee9af89412835e8.html">points</a></li> </ul>
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<div class="title">point_cloud.hpp</div> </div>
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<a href="point__cloud_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 <memory></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <vector></span></div>
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<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <Eigen/Core></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="points_2traits_8hpp.html">small_gicp/points/traits.hpp</a>></span></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="l00010"></a><span class="lineno"> 10</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="l00011"></a><span class="lineno"> 11</span>  </div>
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<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html"> 15</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> {</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00017"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#ae146e0c215d5e7d89a69cc8a1358f434"> 17</a></span>  <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#ae146e0c215d5e7d89a69cc8a1358f434">Ptr</a> = std::shared_ptr<PointCloud>;</div>
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<div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a4c0acef2cb3250a7d2c89e2563dd4d63"> 18</a></span>  <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a4c0acef2cb3250a7d2c89e2563dd4d63">ConstPtr</a> = std::shared_ptr<const PointCloud>;</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a1721863f5ef88070573c09016e3b725e"> 21</a></span>  <a class="code" href="structsmall__gicp_1_1PointCloud.html#a1721863f5ef88070573c09016e3b725e">PointCloud</a>() {}</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  </div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T, <span class="keywordtype">int</span> D, <span class="keyword">typename</span> Allocator></div>
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<div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#adec9df4604b0ed1645c65ed86b43cd72"> 26</a></span>  <span class="keyword">explicit</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#adec9df4604b0ed1645c65ed86b43cd72">PointCloud</a>(<span class="keyword">const</span> std::vector<Eigen::Matrix<T, D, 1>, Allocator>& <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>) {</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  this-><a class="code" href="structsmall__gicp_1_1PointCloud.html#ad40378aae8d918bc85c4fbc97a55e3b2">resize</a>(<a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>.size());</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>.size(); i++) {</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  this-><a class="code" href="structsmall__gicp_1_1PointCloud.html#a71884d21768d65f595d983f7354c6f58">point</a>(i) << <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>[i].template cast<double>().template head<3>(), 1.0;</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  }</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"> 32</span>  </div>
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<div class="line"><a name="l00034"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a10aea23482fe84a9de861e845931d44c"> 34</a></span>  <a class="code" href="structsmall__gicp_1_1PointCloud.html#a10aea23482fe84a9de861e845931d44c">~PointCloud</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="l00037"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#aa547fefb1bc9eb44aa7ea7d11a82f152"> 37</a></span>  <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#aa547fefb1bc9eb44aa7ea7d11a82f152">size</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>.size(); }</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="l00040"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a0e6e6839be1bc5a72e853bcd96c58fe9"> 40</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a0e6e6839be1bc5a72e853bcd96c58fe9">empty</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>.empty(); }</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="l00044"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#ad40378aae8d918bc85c4fbc97a55e3b2"> 44</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#ad40378aae8d918bc85c4fbc97a55e3b2">resize</a>(<span class="keywordtype">size_t</span> n) {</div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>.resize(n);</div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="structsmall__gicp_1_1PointCloud.html#a9310871eccde1820a10ce5f3064e23d2">normals</a>.resize(n);</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3d9c717ab184a248704181a9cd9b645b">covs</a>.resize(n);</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
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<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a71884d21768d65f595d983f7354c6f58"> 51</a></span>  Eigen::Vector4d& <a class="code" href="structsmall__gicp_1_1PointCloud.html#a71884d21768d65f595d983f7354c6f58">point</a>(<span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>[i]; }</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="l00054"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#ae47b48a82398891ae84ebdb8e2c993c6"> 54</a></span>  Eigen::Vector4d& <a class="code" href="structsmall__gicp_1_1PointCloud.html#ae47b48a82398891ae84ebdb8e2c993c6">normal</a>(<span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a9310871eccde1820a10ce5f3064e23d2">normals</a>[i]; }</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="l00057"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a55d33f6b3bd94aced9628c16ad3269a2"> 57</a></span>  Eigen::Matrix4d& <a class="code" href="structsmall__gicp_1_1PointCloud.html#a55d33f6b3bd94aced9628c16ad3269a2">cov</a>(<span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3d9c717ab184a248704181a9cd9b645b">covs</a>[i]; }</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="l00060"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a7d38dede4cdc61a6dbf1b3cf4d3df9ea"> 60</a></span>  <span class="keyword">const</span> Eigen::Vector4d& <a class="code" href="structsmall__gicp_1_1PointCloud.html#a7d38dede4cdc61a6dbf1b3cf4d3df9ea">point</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>[i]; }</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="l00063"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a5181daa40fe677ab7d78b303c0509329"> 63</a></span>  <span class="keyword">const</span> Eigen::Vector4d& <a class="code" href="structsmall__gicp_1_1PointCloud.html#a5181daa40fe677ab7d78b303c0509329">normal</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a9310871eccde1820a10ce5f3064e23d2">normals</a>[i]; }</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="l00066"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a398a4c1699339dc699a1fdea5d33517a"> 66</a></span>  <span class="keyword">const</span> Eigen::Matrix4d& <a class="code" href="structsmall__gicp_1_1PointCloud.html#a398a4c1699339dc699a1fdea5d33517a">cov</a>(<span class="keywordtype">size_t</span> i)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3d9c717ab184a248704181a9cd9b645b">covs</a>[i]; }</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"> 68</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df"> 69</a></span>  std::vector<Eigen::Vector4d> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>; </div>
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<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a9310871eccde1820a10ce5f3064e23d2"> 70</a></span>  std::vector<Eigen::Vector4d> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a9310871eccde1820a10ce5f3064e23d2">normals</a>; </div>
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<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1PointCloud.html#a3d9c717ab184a248704181a9cd9b645b"> 71</a></span>  std::vector<Eigen::Matrix4d> <a class="code" href="structsmall__gicp_1_1PointCloud.html#a3d9c717ab184a248704181a9cd9b645b">covs</a>; </div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> };</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">namespace </span>traits {</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">template</span> <></div>
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<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html"> 77</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_1PointCloud.html">PointCloud</a>> {</div>
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<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#add6ef85d5d28ccc91b359109f750f2c2"> 78</a></span>  <span class="keyword">using</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a> = <a class="code" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a>;</div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
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<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a8a468c7d028b4000dbf095867477acf9"> 80</a></span>  <span class="keyword">static</span> <span class="keywordtype">size_t</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a8a468c7d028b4000dbf095867477acf9">size</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points) { <span class="keywordflow">return</span> points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#aa547fefb1bc9eb44aa7ea7d11a82f152">size</a>(); }</div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
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<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a2753bb7c7146078f257d2966fb49a2fc"> 82</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a2753bb7c7146078f257d2966fb49a2fc">has_points</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points) { <span class="keywordflow">return</span> !points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">points</a>.empty(); }</div>
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<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a79ec02ed3536e4c3acc575c4c0decea7"> 83</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a79ec02ed3536e4c3acc575c4c0decea7">has_normals</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points) { <span class="keywordflow">return</span> !points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#a9310871eccde1820a10ce5f3064e23d2">normals</a>.empty(); }</div>
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<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#abd2f8dbae4aeabf85772c28d7ca07270"> 84</a></span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#abd2f8dbae4aeabf85772c28d7ca07270">has_covs</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points) { <span class="keywordflow">return</span> !points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#a3d9c717ab184a248704181a9cd9b645b">covs</a>.empty(); }</div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
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<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#ab53164b65d8b948a5163cf90e2d102dc"> 86</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_01PointCloud_01_4.html#ab53164b65d8b948a5163cf90e2d102dc">point</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#a71884d21768d65f595d983f7354c6f58">point</a>(i); }</div>
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<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a2dfcecaeb26740af8dd352658fd66239"> 87</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_01PointCloud_01_4.html#a2dfcecaeb26740af8dd352658fd66239">normal</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#ae47b48a82398891ae84ebdb8e2c993c6">normal</a>(i); }</div>
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<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#afc1ceb9ed953135359666ca18206570f"> 88</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_01PointCloud_01_4.html#afc1ceb9ed953135359666ca18206570f">cov</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points, <span class="keywordtype">size_t</span> i) { <span class="keywordflow">return</span> points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#a55d33f6b3bd94aced9628c16ad3269a2">cov</a>(i); }</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
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<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a485f57784a6553c2872241d511981adf"> 90</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a485f57784a6553c2872241d511981adf">resize</a>(<a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points, <span class="keywordtype">size_t</span> n) { points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#ad40378aae8d918bc85c4fbc97a55e3b2">resize</a>(n); }</div>
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<div class="line"><a name="l00091"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a8d290c84e3942cec6c2e46815b24154c"> 91</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a8d290c84e3942cec6c2e46815b24154c">set_point</a>(<a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Vector4d& pt) { points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#a71884d21768d65f595d983f7354c6f58">point</a>(i) = pt; }</div>
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<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a49895967559cba29e4d0374900288d46"> 92</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a49895967559cba29e4d0374900288d46">set_normal</a>(<a class="code" href="structsmall__gicp_1_1PointCloud.html">Points</a>& points, <span class="keywordtype">size_t</span> i, <span class="keyword">const</span> Eigen::Vector4d& n) { points.<a class="code" href="structsmall__gicp_1_1PointCloud.html#ae47b48a82398891ae84ebdb8e2c993c6">normal</a>(i) = n; }</div>
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<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#ac57e34e954e27a114b2ea2712ae1aa52"> 93</a></span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#ac57e34e954e27a114b2ea2712ae1aa52">set_cov</a>(<a class="code" href="structsmall__gicp_1_1PointCloud.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_1PointCloud.html#a55d33f6b3bd94aced9628c16ad3269a2">cov</a>(i) = <a class="code" href="namespacesmall__gicp_1_1traits.html#ac9146681bcef16a4c73d3fd05ad295c7">cov</a>; }</div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> };</div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> } <span class="comment">// namespace traits</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="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_1PointCloud_html"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html">small_gicp::PointCloud</a></div><div class="ttdoc">Point cloud.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a0e6e6839be1bc5a72e853bcd96c58fe9"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a0e6e6839be1bc5a72e853bcd96c58fe9">small_gicp::PointCloud::empty</a></div><div class="ttdeci">bool empty() const</div><div class="ttdoc">Check if the point cloud is empty.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:40</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a10aea23482fe84a9de861e845931d44c"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a10aea23482fe84a9de861e845931d44c">small_gicp::PointCloud::~PointCloud</a></div><div class="ttdeci">~PointCloud()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:34</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a1721863f5ef88070573c09016e3b725e"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a1721863f5ef88070573c09016e3b725e">small_gicp::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:21</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a398a4c1699339dc699a1fdea5d33517a"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a398a4c1699339dc699a1fdea5d33517a">small_gicp::PointCloud::cov</a></div><div class="ttdeci">const Eigen::Matrix4d & cov(size_t i) const</div><div class="ttdoc">Get i-th covariance (const).</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:66</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a3d9c717ab184a248704181a9cd9b645b"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a3d9c717ab184a248704181a9cd9b645b">small_gicp::PointCloud::covs</a></div><div class="ttdeci">std::vector< Eigen::Matrix4d > covs</div><div class="ttdoc">Point covariances (3x3 matrix) + zero padding.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:71</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a3f8b61ba386344806fe5c762c94ac3df"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a3f8b61ba386344806fe5c762c94ac3df">small_gicp::PointCloud::points</a></div><div class="ttdeci">std::vector< Eigen::Vector4d > points</div><div class="ttdoc">Point coordinates (x, y, z, 1)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:69</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a4c0acef2cb3250a7d2c89e2563dd4d63"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a4c0acef2cb3250a7d2c89e2563dd4d63">small_gicp::PointCloud::ConstPtr</a></div><div class="ttdeci">std::shared_ptr< const PointCloud > ConstPtr</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:18</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a5181daa40fe677ab7d78b303c0509329"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a5181daa40fe677ab7d78b303c0509329">small_gicp::PointCloud::normal</a></div><div class="ttdeci">const Eigen::Vector4d & normal(size_t i) const</div><div class="ttdoc">Get i-th normal (const).</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:63</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a55d33f6b3bd94aced9628c16ad3269a2"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a55d33f6b3bd94aced9628c16ad3269a2">small_gicp::PointCloud::cov</a></div><div class="ttdeci">Eigen::Matrix4d & cov(size_t i)</div><div class="ttdoc">Get i-th covariance.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:57</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a71884d21768d65f595d983f7354c6f58"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a71884d21768d65f595d983f7354c6f58">small_gicp::PointCloud::point</a></div><div class="ttdeci">Eigen::Vector4d & point(size_t i)</div><div class="ttdoc">Get i-th point.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:51</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a7d38dede4cdc61a6dbf1b3cf4d3df9ea"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a7d38dede4cdc61a6dbf1b3cf4d3df9ea">small_gicp::PointCloud::point</a></div><div class="ttdeci">const Eigen::Vector4d & point(size_t i) const</div><div class="ttdoc">Get i-th point (const).</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:60</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_a9310871eccde1820a10ce5f3064e23d2"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#a9310871eccde1820a10ce5f3064e23d2">small_gicp::PointCloud::normals</a></div><div class="ttdeci">std::vector< Eigen::Vector4d > normals</div><div class="ttdoc">Point normals (nx, ny, nz, 0)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:70</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_aa547fefb1bc9eb44aa7ea7d11a82f152"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#aa547fefb1bc9eb44aa7ea7d11a82f152">small_gicp::PointCloud::size</a></div><div class="ttdeci">size_t size() const</div><div class="ttdoc">Number of points.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:37</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_ad40378aae8d918bc85c4fbc97a55e3b2"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#ad40378aae8d918bc85c4fbc97a55e3b2">small_gicp::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize point/normal/cov buffers.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:44</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_adec9df4604b0ed1645c65ed86b43cd72"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#adec9df4604b0ed1645c65ed86b43cd72">small_gicp::PointCloud::PointCloud</a></div><div class="ttdeci">PointCloud(const std::vector< Eigen::Matrix< T, D, 1 >, Allocator > &points)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:26</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_ae146e0c215d5e7d89a69cc8a1358f434"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#ae146e0c215d5e7d89a69cc8a1358f434">small_gicp::PointCloud::Ptr</a></div><div class="ttdeci">std::shared_ptr< PointCloud > Ptr</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:17</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1PointCloud_html_ae47b48a82398891ae84ebdb8e2c993c6"><div class="ttname"><a href="structsmall__gicp_1_1PointCloud.html#ae47b48a82398891ae84ebdb8e2c993c6">small_gicp::PointCloud::normal</a></div><div class="ttdeci">Eigen::Vector4d & normal(size_t i)</div><div class="ttdoc">Get i-th normal.</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:54</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_a2753bb7c7146078f257d2966fb49a2fc"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a2753bb7c7146078f257d2966fb49a2fc">small_gicp::traits::Traits< PointCloud >::has_points</a></div><div class="ttdeci">static bool has_points(const Points &points)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:82</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_a2dfcecaeb26740af8dd352658fd66239"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a2dfcecaeb26740af8dd352658fd66239">small_gicp::traits::Traits< PointCloud >::normal</a></div><div class="ttdeci">static const Eigen::Vector4d & normal(const Points &points, size_t i)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:87</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_a485f57784a6553c2872241d511981adf"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a485f57784a6553c2872241d511981adf">small_gicp::traits::Traits< PointCloud >::resize</a></div><div class="ttdeci">static void resize(Points &points, size_t n)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:90</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_a49895967559cba29e4d0374900288d46"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a49895967559cba29e4d0374900288d46">small_gicp::traits::Traits< PointCloud >::set_normal</a></div><div class="ttdeci">static void set_normal(Points &points, size_t i, const Eigen::Vector4d &n)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:92</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_a79ec02ed3536e4c3acc575c4c0decea7"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a79ec02ed3536e4c3acc575c4c0decea7">small_gicp::traits::Traits< PointCloud >::has_normals</a></div><div class="ttdeci">static bool has_normals(const Points &points)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:83</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_a8a468c7d028b4000dbf095867477acf9"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a8a468c7d028b4000dbf095867477acf9">small_gicp::traits::Traits< PointCloud >::size</a></div><div class="ttdeci">static size_t size(const Points &points)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:80</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_a8d290c84e3942cec6c2e46815b24154c"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#a8d290c84e3942cec6c2e46815b24154c">small_gicp::traits::Traits< PointCloud >::set_point</a></div><div class="ttdeci">static void set_point(Points &points, size_t i, const Eigen::Vector4d &pt)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:91</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_ab53164b65d8b948a5163cf90e2d102dc"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#ab53164b65d8b948a5163cf90e2d102dc">small_gicp::traits::Traits< PointCloud >::point</a></div><div class="ttdeci">static const Eigen::Vector4d & point(const Points &points, size_t i)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:86</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_abd2f8dbae4aeabf85772c28d7ca07270"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#abd2f8dbae4aeabf85772c28d7ca07270">small_gicp::traits::Traits< PointCloud >::has_covs</a></div><div class="ttdeci">static bool has_covs(const Points &points)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:84</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_ac57e34e954e27a114b2ea2712ae1aa52"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#ac57e34e954e27a114b2ea2712ae1aa52">small_gicp::traits::Traits< PointCloud >::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> point_cloud.hpp:93</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4_html_afc1ceb9ed953135359666ca18206570f"><div class="ttname"><a href="structsmall__gicp_1_1traits_1_1Traits_3_01PointCloud_01_4.html#afc1ceb9ed953135359666ca18206570f">small_gicp::traits::Traits< PointCloud >::cov</a></div><div class="ttdeci">static const Eigen::Matrix4d & cov(const Points &points, size_t i)</div><div class="ttdef"><b>Definition:</b> point_cloud.hpp:88</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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