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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">rejector.hpp</div> </div>
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<a href="rejector_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 <Eigen/Core></span></div>
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<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <Eigen/Geometry></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_1NullRejector.html"> 11</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1NullRejector.html">NullRejector</a> {</div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</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></div>
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<div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1NullRejector.html#ae2ce9b1a7fe28bdd5947f39061748900"> 13</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1NullRejector.html#ae2ce9b1a7fe28bdd5947f39061748900">operator()</a>(<span class="keyword">const</span> TargetPointCloud& target, <span class="keyword">const</span> SourcePointCloud& source, <span class="keyword">const</span> Eigen::Isometry3d& T, <span class="keywordtype">size_t</span> target_index, <span class="keywordtype">size_t</span> source_index, <span class="keywordtype">double</span> sq_dist)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
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<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  }</div>
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<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> };</div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div>
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<div class="line"><a name="l00019"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1DistanceRejector.html"> 19</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1DistanceRejector.html">DistanceRejector</a> {</div>
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<div class="line"><a name="l00020"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1DistanceRejector.html#afc562668e1f98f36d2700a3c0369369d"> 20</a></span>  <a class="code" href="structsmall__gicp_1_1DistanceRejector.html#afc562668e1f98f36d2700a3c0369369d">DistanceRejector</a>() : <a class="code" href="structsmall__gicp_1_1DistanceRejector.html#ae7c948dae232368a5e96822e381d99da">max_dist_sq</a>(1.0) {}</div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</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></div>
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<div class="line"><a name="l00023"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1DistanceRejector.html#a23e394f2b9f78d3224966db712b1d536"> 23</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1DistanceRejector.html#a23e394f2b9f78d3224966db712b1d536">operator()</a>(<span class="keyword">const</span> TargetPointCloud& target, <span class="keyword">const</span> SourcePointCloud& source, <span class="keyword">const</span> Eigen::Isometry3d& T, <span class="keywordtype">size_t</span> target_index, <span class="keywordtype">size_t</span> source_index, <span class="keywordtype">double</span> sq_dist)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <span class="keywordflow">return</span> sq_dist > <a class="code" href="structsmall__gicp_1_1DistanceRejector.html#ae7c948dae232368a5e96822e381d99da">max_dist_sq</a>;</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  }</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
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<div class="line"><a name="l00027"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1DistanceRejector.html#ae7c948dae232368a5e96822e381d99da"> 27</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1DistanceRejector.html#ae7c948dae232368a5e96822e381d99da">max_dist_sq</a>; </div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> };</div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</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_1DistanceRejector_html"><div class="ttname"><a href="structsmall__gicp_1_1DistanceRejector.html">small_gicp::DistanceRejector</a></div><div class="ttdoc">Rejecting correspondences with large distances.</div><div class="ttdef"><b>Definition:</b> rejector.hpp:19</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1DistanceRejector_html_a23e394f2b9f78d3224966db712b1d536"><div class="ttname"><a href="structsmall__gicp_1_1DistanceRejector.html#a23e394f2b9f78d3224966db712b1d536">small_gicp::DistanceRejector::operator()</a></div><div class="ttdeci">bool operator()(const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T, size_t target_index, size_t source_index, double sq_dist) const</div><div class="ttdef"><b>Definition:</b> rejector.hpp:23</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1DistanceRejector_html_ae7c948dae232368a5e96822e381d99da"><div class="ttname"><a href="structsmall__gicp_1_1DistanceRejector.html#ae7c948dae232368a5e96822e381d99da">small_gicp::DistanceRejector::max_dist_sq</a></div><div class="ttdeci">double max_dist_sq</div><div class="ttdoc">Maximum squared distance between corresponding points.</div><div class="ttdef"><b>Definition:</b> rejector.hpp:27</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1DistanceRejector_html_afc562668e1f98f36d2700a3c0369369d"><div class="ttname"><a href="structsmall__gicp_1_1DistanceRejector.html#afc562668e1f98f36d2700a3c0369369d">small_gicp::DistanceRejector::DistanceRejector</a></div><div class="ttdeci">DistanceRejector()</div><div class="ttdef"><b>Definition:</b> rejector.hpp:20</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1NullRejector_html"><div class="ttname"><a href="structsmall__gicp_1_1NullRejector.html">small_gicp::NullRejector</a></div><div class="ttdoc">Null correspondence rejector. This class accepts all input correspondences.</div><div class="ttdef"><b>Definition:</b> rejector.hpp:11</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1NullRejector_html_ae2ce9b1a7fe28bdd5947f39061748900"><div class="ttname"><a href="structsmall__gicp_1_1NullRejector.html#ae2ce9b1a7fe28bdd5947f39061748900">small_gicp::NullRejector::operator()</a></div><div class="ttdeci">bool operator()(const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T, size_t target_index, size_t source_index, double sq_dist) const</div><div class="ttdef"><b>Definition:</b> rejector.hpp:13</div></div>
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