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<div class="title">reduction.hpp</div> </div>
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<a href="reduction_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 <vector></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <Eigen/Core></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"><a class="line" href="structsmall__gicp_1_1SerialReduction.html"> 11</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1SerialReduction.html">SerialReduction</a> {</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> TargetPo<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourcePo<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> TargetTree, <span class="keyword">typename</span> CorrespondenceRejector, <span class="keyword">typename</span> Factor></div>
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<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1SerialReduction.html#a7453a8bd44b391c2d989de615da77112"> 21</a></span>  std::tuple<Eigen::Matrix<double, 6, 6>, Eigen::Matrix<double, 6, 1>, <span class="keywordtype">double</span>> <a class="code" href="structsmall__gicp_1_1SerialReduction.html#a7453a8bd44b391c2d989de615da77112">linearize</a>(</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keyword">const</span> TargetPointCloud& target,</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <span class="keyword">const</span> SourcePointCloud& source,</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keyword">const</span> TargetTree& target_tree,</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">const</span> CorrespondenceRejector& rejector,</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keyword">const</span> Eigen::Isometry3d& T,</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  std::vector<Factor>& factors)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  Eigen::Matrix<double, 6, 6> sum_H = Eigen::Matrix<double, 6, 6>::Zero();</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  Eigen::Matrix<double, 6, 1> sum_b = Eigen::Matrix<double, 6, 1>::Zero();</div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordtype">double</span> sum_e = 0.0;</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>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < factors.size(); i++) {</div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  Eigen::Matrix<double, 6, 6> H;</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  Eigen::Matrix<double, 6, 1> b;</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">double</span> e;</div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <span class="keywordflow">if</span> (!factors[i].<a class="code" href="structsmall__gicp_1_1SerialReduction.html#a7453a8bd44b391c2d989de615da77112">linearize</a>(target, source, target_tree, T, i, rejector, &H, &b, &e)) {</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">continue</span>;</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  }</div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  sum_H += H;</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  sum_b += b;</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  sum_e += 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>  </div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <span class="keywordflow">return</span> {sum_H, sum_b, sum_e};</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>  </div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> TargetPo<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> SourcePo<span class="keywordtype">int</span>Cloud, <span class="keyword">typename</span> Factor></div>
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<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1SerialReduction.html#a0a816dd4935445402f6173504947d644"> 56</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1SerialReduction.html#a0a816dd4935445402f6173504947d644">error</a>(<span class="keyword">const</span> TargetPointCloud& target, <span class="keyword">const</span> SourcePointCloud& source, <span class="keyword">const</span> Eigen::Isometry3d& T, std::vector<Factor>& factors)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="keywordtype">double</span> sum_e = 0.0;</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < factors.size(); i++) {</div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  sum_e += factors[i].error(target, source, T);</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  }</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordflow">return</span> sum_e;</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  }</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"> 65</span> } <span class="comment">// namespace small_gicp</span></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="astructsmall__gicp_1_1SerialReduction_html"><div class="ttname"><a href="structsmall__gicp_1_1SerialReduction.html">small_gicp::SerialReduction</a></div><div class="ttdoc">Single-thread reduction.</div><div class="ttdef"><b>Definition:</b> reduction.hpp:11</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1SerialReduction_html_a0a816dd4935445402f6173504947d644"><div class="ttname"><a href="structsmall__gicp_1_1SerialReduction.html#a0a816dd4935445402f6173504947d644">small_gicp::SerialReduction::error</a></div><div class="ttdeci">double error(const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T, std::vector< Factor > &factors) const</div><div class="ttdoc">Sum up evaluated errors.</div><div class="ttdef"><b>Definition:</b> reduction.hpp:56</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1SerialReduction_html_a7453a8bd44b391c2d989de615da77112"><div class="ttname"><a href="structsmall__gicp_1_1SerialReduction.html#a7453a8bd44b391c2d989de615da77112">small_gicp::SerialReduction::linearize</a></div><div class="ttdeci">std::tuple< Eigen::Matrix< double, 6, 6 >, Eigen::Matrix< double, 6, 1 >, double > linearize(const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const CorrespondenceRejector &rejector, const Eigen::Isometry3d &T, std::vector< Factor > &factors) const</div><div class="ttdoc">Sum up linearized systems.</div><div class="ttdef"><b>Definition:</b> reduction.hpp:21</div></div>
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