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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_b9dd3af08b5360c2148fef90713dd643.html">registration</a></li> </ul>
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<div class="title">reduction_tbb.hpp</div> </div>
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<a href="reduction__tbb_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 <tbb/tbb.h></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"> 11</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="l00012"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html"> 12</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1LinearizeSum.html">LinearizeSum</a> {</div>
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<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#af901c5d38adaa8ac490382cf273c7974"> 13</a></span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#af901c5d38adaa8ac490382cf273c7974">LinearizeSum</a>(</div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keyword">const</span> TargetPointCloud& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">target</a>,</div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  <span class="keyword">const</span> SourcePointCloud& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">source</a>,</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keyword">const</span> TargetTree& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">target_tree</a>,</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  <span class="keyword">const</span> CorrespondenceRejector& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">rejector</a>,</div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  <span class="keyword">const</span> Eigen::Isometry3d& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">T</a>,</div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  std::vector<Factor>& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">factors</a>)</div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  : <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">target</a>(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">target</a>),</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">source</a>(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">source</a>),</div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">target_tree</a>(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">target_tree</a>),</div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">rejector</a>(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">rejector</a>),</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">T</a>(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">T</a>),</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">factors</a>(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">factors</a>),</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a>(Eigen::Matrix<double, 6, 6>::Zero()),</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a>(Eigen::Matrix<double, 6, 1>::Zero()),</div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</a>(0.0) {}</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
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<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#a068dbed615aca029b68895215aadab41"> 30</a></span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a068dbed615aca029b68895215aadab41">LinearizeSum</a>(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html">LinearizeSum</a>& x, tbb::split)</div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  : <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">target</a>(x.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">target</a>),</div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">source</a>(x.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">source</a>),</div>
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<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">target_tree</a>(x.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">target_tree</a>),</div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">rejector</a>(x.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">rejector</a>),</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">T</a>(x.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">T</a>),</div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">factors</a>(x.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">factors</a>),</div>
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<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a>(Eigen::Matrix<double, 6, 6>::Zero()),</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a>(Eigen::Matrix<double, 6, 1>::Zero()),</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</a>(0.0) {}</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"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#adaa70eeedbd9f021c1821e3c11cccf13"> 41</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#adaa70eeedbd9f021c1821e3c11cccf13">operator()</a>(<span class="keyword">const</span> tbb::blocked_range<size_t>& r) {</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  Eigen::Matrix<double, 6, 6> Ht = <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a>;</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  Eigen::Matrix<double, 6, 1> bt = <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a>;</div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordtype">double</span> et = <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</a>;</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">for</span> (<span class="keywordtype">size_t</span> i = r.begin(); i != r.end(); i++) {</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  Eigen::Matrix<double, 6, 6> Hi;</div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  Eigen::Matrix<double, 6, 1> bi;</div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordtype">double</span> ei;</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>  <span class="keywordflow">if</span> (!<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">factors</a>[i].linearize(<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">target</a>, <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">source</a>, <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">target_tree</a>, <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">T</a>, i, <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">rejector</a>, &Hi, &bi, &ei)) {</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="keywordflow">continue</span>;</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  }</div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  Ht += Hi;</div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  bt += bi;</div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  et += ei;</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>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a> = Ht;</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a> = bt;</div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</a> = et;</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_1LinearizeSum.html#a008b56793a392fb1f9b930be59be6bbf"> 65</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a008b56793a392fb1f9b930be59be6bbf">join</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1LinearizeSum.html">LinearizeSum</a>& y) {</div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a> += y.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a>;</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a> += y.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a>;</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</a> += y.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</a>;</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="l00070"></a><span class="lineno"> 70</span>  </div>
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<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2"> 71</a></span>  <span class="keyword">const</span> TargetPointCloud& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">target</a>;</div>
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<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c"> 72</a></span>  <span class="keyword">const</span> SourcePointCloud& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">source</a>;</div>
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<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b"> 73</a></span>  <span class="keyword">const</span> TargetTree& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">target_tree</a>;</div>
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<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae"> 74</a></span>  <span class="keyword">const</span> CorrespondenceRejector& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">rejector</a>;</div>
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<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986"> 75</a></span>  <span class="keyword">const</span> Eigen::Isometry3d& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">T</a>;</div>
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<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a"> 76</a></span>  std::vector<Factor>& <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">factors</a>;</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
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<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd"> 78</a></span>  Eigen::Matrix<double, 6, 6> <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a>;</div>
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<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96"> 79</a></span>  Eigen::Matrix<double, 6, 1> <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a>;</div>
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<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d"> 80</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</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"> 82</span>  </div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</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="l00085"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html"> 85</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1ErrorSum.html">ErrorSum</a> {</div>
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<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#ac1fbef2b8e87eb0710b8ac191b502f88"> 86</a></span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html#ac1fbef2b8e87eb0710b8ac191b502f88">ErrorSum</a>(<span class="keyword">const</span> TargetPointCloud& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">target</a>, <span class="keyword">const</span> SourcePointCloud& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">source</a>, <span class="keyword">const</span> Eigen::Isometry3d& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">T</a>, std::vector<Factor>& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">factors</a>)</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  : <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">target</a>(<a class="code" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">target</a>),</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">source</a>(<a class="code" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">source</a>),</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">T</a>(<a class="code" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">T</a>),</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">factors</a>(<a class="code" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">factors</a>),</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a>(0.0) {}</div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
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<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#aa5be0d8d9be8209403f16343eaaf11cd"> 93</a></span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html#aa5be0d8d9be8209403f16343eaaf11cd">ErrorSum</a>(<a class="code" href="structsmall__gicp_1_1ErrorSum.html">ErrorSum</a>& x, tbb::split) : <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">target</a>(x.<a class="code" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">target</a>), <a class="code" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">source</a>(x.<a class="code" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">source</a>), <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">T</a>(x.<a class="code" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">T</a>), <a class="code" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">factors</a>(x.<a class="code" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">factors</a>), <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a>(0.0) {}</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"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#a8e587702b1d7741242e9924f0309082a"> 95</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a8e587702b1d7741242e9924f0309082a">operator()</a>(<span class="keyword">const</span> tbb::blocked_range<size_t>& r) {</div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordtype">double</span> et = <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a>;</div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = r.begin(); i != r.end(); i++) {</div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  et += <a class="code" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">factors</a>[i].error(<a class="code" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">target</a>, <a class="code" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">source</a>, <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">T</a>);</div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  }</div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a> = et;</div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  }</div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div>
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<div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#a76119fdd779f875513d1e6237706f791"> 103</a></span>  <span class="keywordtype">void</span> <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a76119fdd779f875513d1e6237706f791">join</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1ErrorSum.html">ErrorSum</a>& y) { <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a> += y.<a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a>; }</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"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42"> 105</a></span>  <span class="keyword">const</span> TargetPointCloud& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">target</a>;</div>
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<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217"> 106</a></span>  <span class="keyword">const</span> SourcePointCloud& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">source</a>;</div>
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<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72"> 107</a></span>  <span class="keyword">const</span> Eigen::Isometry3d& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">T</a>;</div>
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<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa"> 108</a></span>  std::vector<Factor>& <a class="code" href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">factors</a>;</div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
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<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe"> 110</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a>;</div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> };</div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
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<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ParallelReductionTBB.html"> 114</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1ParallelReductionTBB.html">ParallelReductionTBB</a> {</div>
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<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ParallelReductionTBB.html#aaf0d96a2875f7e67f9e5217e5894931e"> 115</a></span>  <a class="code" href="structsmall__gicp_1_1ParallelReductionTBB.html#aaf0d96a2875f7e67f9e5217e5894931e">ParallelReductionTBB</a>() {}</div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  </div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</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="l00118"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ParallelReductionTBB.html#a9ac02e37712d3fdc10f8538dc0001fba"> 118</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_1ParallelReductionTBB.html#a9ac02e37712d3fdc10f8538dc0001fba">linearize</a>(</div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">const</span> TargetPointCloud& target,</div>
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<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keyword">const</span> SourcePointCloud& source,</div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">const</span> TargetTree& target_tree,</div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">const</span> CorrespondenceRejector& rejector,</div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keyword">const</span> Eigen::Isometry3d& T,</div>
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<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  std::vector<Factor>& factors)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="comment">//</span></div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="structsmall__gicp_1_1LinearizeSum.html">LinearizeSum<TargetPointCloud, SourcePointCloud, TargetTree, CorrespondenceRejector, Factor></a> sum(target, source, target_tree, rejector, T, factors);</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>  tbb::parallel_reduce(tbb::blocked_range<size_t>(0, factors.size(), 8), sum);</div>
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<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
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<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">return</span> {sum.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">H</a>, sum.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">b</a>, sum.<a class="code" href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">e</a>};</div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  }</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>  <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="l00134"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1ParallelReductionTBB.html#a7529ad261a7dd6b90db2a8d7de6032f3"> 134</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1ParallelReductionTBB.html#a7529ad261a7dd6b90db2a8d7de6032f3">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="l00135"></a><span class="lineno"> 135</span>  <a class="code" href="structsmall__gicp_1_1ErrorSum.html">ErrorSum<TargetPointCloud, SourcePointCloud, Factor></a> sum(target, source, T, factors);</div>
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<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  tbb::parallel_reduce(tbb::blocked_range<size_t>(0, factors.size(), 16), sum);</div>
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<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordflow">return</span> sum.<a class="code" href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">e</a>;</div>
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<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</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>  </div>
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<div class="line"><a name="l00141"></a><span class="lineno"> 141</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_1ErrorSum_html"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html">small_gicp::ErrorSum</a></div><div class="ttdoc">Summation for evaluated errors.</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:85</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_a3bc48314663c2ba933ff1ef561796a42"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#a3bc48314663c2ba933ff1ef561796a42">small_gicp::ErrorSum::target</a></div><div class="ttdeci">const TargetPointCloud & target</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:105</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_a76119fdd779f875513d1e6237706f791"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#a76119fdd779f875513d1e6237706f791">small_gicp::ErrorSum::join</a></div><div class="ttdeci">void join(const ErrorSum &y)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:103</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_a8e587702b1d7741242e9924f0309082a"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#a8e587702b1d7741242e9924f0309082a">small_gicp::ErrorSum::operator()</a></div><div class="ttdeci">void operator()(const tbb::blocked_range< size_t > &r)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:95</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_a99f12ec2aafede95b398e4c3626ecb72"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#a99f12ec2aafede95b398e4c3626ecb72">small_gicp::ErrorSum::T</a></div><div class="ttdeci">const Eigen::Isometry3d & T</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:107</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_a9c56a9e24f3fca4ebf2975c5e7a1bfbe"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#a9c56a9e24f3fca4ebf2975c5e7a1bfbe">small_gicp::ErrorSum::e</a></div><div class="ttdeci">double e</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:110</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_aa5be0d8d9be8209403f16343eaaf11cd"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#aa5be0d8d9be8209403f16343eaaf11cd">small_gicp::ErrorSum::ErrorSum</a></div><div class="ttdeci">ErrorSum(ErrorSum &x, tbb::split)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:93</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_ac1fbef2b8e87eb0710b8ac191b502f88"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#ac1fbef2b8e87eb0710b8ac191b502f88">small_gicp::ErrorSum::ErrorSum</a></div><div class="ttdeci">ErrorSum(const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T, std::vector< Factor > &factors)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:86</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_ae61b6bcc05a045091bd690a53dde8217"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#ae61b6bcc05a045091bd690a53dde8217">small_gicp::ErrorSum::source</a></div><div class="ttdeci">const SourcePointCloud & source</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:106</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ErrorSum_html_afc46a8f83098ed6a673cf31409bb52aa"><div class="ttname"><a href="structsmall__gicp_1_1ErrorSum.html#afc46a8f83098ed6a673cf31409bb52aa">small_gicp::ErrorSum::factors</a></div><div class="ttdeci">std::vector< Factor > & factors</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:108</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html">small_gicp::LinearizeSum</a></div><div class="ttdoc">Summation for linearized systems.</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:12</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a008b56793a392fb1f9b930be59be6bbf"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a008b56793a392fb1f9b930be59be6bbf">small_gicp::LinearizeSum::join</a></div><div class="ttdeci">void join(const LinearizeSum &y)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:65</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a068dbed615aca029b68895215aadab41"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a068dbed615aca029b68895215aadab41">small_gicp::LinearizeSum::LinearizeSum</a></div><div class="ttdeci">LinearizeSum(LinearizeSum &x, tbb::split)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:30</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a0e493429a5ac6a68c55600f740ddde9a"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a0e493429a5ac6a68c55600f740ddde9a">small_gicp::LinearizeSum::factors</a></div><div class="ttdeci">std::vector< Factor > & factors</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:76</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a14e1a10aa59424d37f8116f707edcb9c"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a14e1a10aa59424d37f8116f707edcb9c">small_gicp::LinearizeSum::source</a></div><div class="ttdeci">const SourcePointCloud & source</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:72</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a441f20ad62640c71ab5e502ba4f21986"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a441f20ad62640c71ab5e502ba4f21986">small_gicp::LinearizeSum::T</a></div><div class="ttdeci">const Eigen::Isometry3d & T</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:75</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a53c68d3378a684c637e8b648f00e6cae"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a53c68d3378a684c637e8b648f00e6cae">small_gicp::LinearizeSum::rejector</a></div><div class="ttdeci">const CorrespondenceRejector & rejector</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:74</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a5ba46321b0846cfe43eb2787ba00314b"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a5ba46321b0846cfe43eb2787ba00314b">small_gicp::LinearizeSum::target_tree</a></div><div class="ttdeci">const TargetTree & target_tree</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:73</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_a7c6ac278a4ce034f5780706d5064cd96"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#a7c6ac278a4ce034f5780706d5064cd96">small_gicp::LinearizeSum::b</a></div><div class="ttdeci">Eigen::Matrix< double, 6, 1 > b</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:79</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_aac2da0c3be10a856c2405825dede5ff2"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#aac2da0c3be10a856c2405825dede5ff2">small_gicp::LinearizeSum::target</a></div><div class="ttdeci">const TargetPointCloud & target</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:71</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_ad717fd920e7806664ce691fc34636d7d"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#ad717fd920e7806664ce691fc34636d7d">small_gicp::LinearizeSum::e</a></div><div class="ttdeci">double e</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:80</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_ad7b4de1a0efea262bf30782189e997dd"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#ad7b4de1a0efea262bf30782189e997dd">small_gicp::LinearizeSum::H</a></div><div class="ttdeci">Eigen::Matrix< double, 6, 6 > H</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:78</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_adaa70eeedbd9f021c1821e3c11cccf13"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#adaa70eeedbd9f021c1821e3c11cccf13">small_gicp::LinearizeSum::operator()</a></div><div class="ttdeci">void operator()(const tbb::blocked_range< size_t > &r)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:41</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1LinearizeSum_html_af901c5d38adaa8ac490382cf273c7974"><div class="ttname"><a href="structsmall__gicp_1_1LinearizeSum.html#af901c5d38adaa8ac490382cf273c7974">small_gicp::LinearizeSum::LinearizeSum</a></div><div class="ttdeci">LinearizeSum(const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const CorrespondenceRejector &rejector, const Eigen::Isometry3d &T, std::vector< Factor > &factors)</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:13</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ParallelReductionTBB_html"><div class="ttname"><a href="structsmall__gicp_1_1ParallelReductionTBB.html">small_gicp::ParallelReductionTBB</a></div><div class="ttdoc">Parallel reduction with TBB backend.</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:114</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ParallelReductionTBB_html_a7529ad261a7dd6b90db2a8d7de6032f3"><div class="ttname"><a href="structsmall__gicp_1_1ParallelReductionTBB.html#a7529ad261a7dd6b90db2a8d7de6032f3">small_gicp::ParallelReductionTBB::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="ttdef"><b>Definition:</b> reduction_tbb.hpp:134</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ParallelReductionTBB_html_a9ac02e37712d3fdc10f8538dc0001fba"><div class="ttname"><a href="structsmall__gicp_1_1ParallelReductionTBB.html#a9ac02e37712d3fdc10f8538dc0001fba">small_gicp::ParallelReductionTBB::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="ttdef"><b>Definition:</b> reduction_tbb.hpp:118</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1ParallelReductionTBB_html_aaf0d96a2875f7e67f9e5217e5894931e"><div class="ttname"><a href="structsmall__gicp_1_1ParallelReductionTBB.html#aaf0d96a2875f7e67f9e5217e5894931e">small_gicp::ParallelReductionTBB::ParallelReductionTBB</a></div><div class="ttdeci">ParallelReductionTBB()</div><div class="ttdef"><b>Definition:</b> reduction_tbb.hpp:115</div></div>
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