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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_10d2ca31331a920e163404c3842c11af.html">factors</a></li> </ul>
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<div class="title">robust_kernel.hpp</div> </div>
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<a href="robust__kernel_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_1Huber.html"> 11</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1Huber.html">Huber</a> {</div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00014"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Huber_1_1Setting.html"> 14</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1Huber_1_1Setting.html">Setting</a> {</div>
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<div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Huber_1_1Setting.html#a6b238e2bf944db0b5c50d97b31243ea2"> 15</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1Huber_1_1Setting.html#a6b238e2bf944db0b5c50d97b31243ea2">c</a> = 1.0; </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_1Huber.html#a2a4911cb06c8cb00be1b3a716b376bef"> 19</a></span>  <a class="code" href="structsmall__gicp_1_1Huber.html#a2a4911cb06c8cb00be1b3a716b376bef">Huber</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1Huber_1_1Setting.html">Setting</a>& setting) : <a class="code" href="structsmall__gicp_1_1Huber.html#aecff5c9b886686dd3bf5accf7a652f6d">c</a>(setting.<a class="code" href="structsmall__gicp_1_1Huber.html#aecff5c9b886686dd3bf5accf7a652f6d">c</a>) {}</div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
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<div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Huber.html#ab199291b6663c900ac78b33d4b0ebad6"> 24</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1Huber.html#ab199291b6663c900ac78b33d4b0ebad6">weight</a>(<span class="keywordtype">double</span> e)<span class="keyword"> const </span>{</div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> e_abs = std::abs(e);</div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  <span class="keywordflow">return</span> e_abs < <a class="code" href="structsmall__gicp_1_1Huber.html#aecff5c9b886686dd3bf5accf7a652f6d">c</a> ? 1.0 : <a class="code" href="structsmall__gicp_1_1Huber.html#aecff5c9b886686dd3bf5accf7a652f6d">c</a> / e_abs;</div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  }</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> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Huber.html#aecff5c9b886686dd3bf5accf7a652f6d"> 30</a></span>  <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1Huber.html#aecff5c9b886686dd3bf5accf7a652f6d">c</a>; </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_1Cauchy.html"> 34</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1Cauchy.html">Cauchy</a> {</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Cauchy_1_1Setting.html"> 37</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1Cauchy_1_1Setting.html">Setting</a> {</div>
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<div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Cauchy_1_1Setting.html#acf18467f27e9099ee224cb5ee4c63da7"> 38</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1Cauchy_1_1Setting.html#acf18467f27e9099ee224cb5ee4c63da7">c</a> = 1.0; </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="l00042"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Cauchy.html#a8a3264b8fe54b2b55a32de5776e1f138"> 42</a></span>  <a class="code" href="structsmall__gicp_1_1Cauchy.html#a8a3264b8fe54b2b55a32de5776e1f138">Cauchy</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1Cauchy_1_1Setting.html">Setting</a>& setting) : <a class="code" href="structsmall__gicp_1_1Cauchy.html#a32afe5d20f86c4d33fc303dc03a3ff79">c</a>(setting.<a class="code" href="structsmall__gicp_1_1Cauchy.html#a32afe5d20f86c4d33fc303dc03a3ff79">c</a>) {}</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
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<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Cauchy.html#a339abc1dd105822b01f51b8d3a7b4dc8"> 47</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1Cauchy.html#a339abc1dd105822b01f51b8d3a7b4dc8">weight</a>(<span class="keywordtype">double</span> e)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1Cauchy.html#a32afe5d20f86c4d33fc303dc03a3ff79">c</a> / (<a class="code" href="structsmall__gicp_1_1Cauchy.html#a32afe5d20f86c4d33fc303dc03a3ff79">c</a> + e * e); }</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> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1Cauchy.html#a32afe5d20f86c4d33fc303dc03a3ff79"> 50</a></span>  <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1Cauchy.html#a32afe5d20f86c4d33fc303dc03a3ff79">c</a>; </div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> };</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="l00056"></a><span class="lineno"> 56</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Kernel, <span class="keyword">typename</span> Factor></div>
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<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor.html"> 57</a></span> <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1RobustFactor.html">RobustFactor</a> {</div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html"> 60</a></span>  <span class="keyword">struct </span><a class="code" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a> {</div>
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<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html#a207fb5bb4163655f6edc2ce3d564fe51"> 61</a></span>  <span class="keyword">typename</span> Kernel::Setting <a class="code" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html#a207fb5bb4163655f6edc2ce3d564fe51">robust_kernel</a>; </div>
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<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html#ab3c5989f37ebed36c848e086baaba9ec"> 62</a></span>  <span class="keyword">typename</span> Factor::Setting <a class="code" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html#ab3c5989f37ebed36c848e086baaba9ec">factor</a>; </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="l00066"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor.html#aec0efc27610875bab44db5ff7a2438ce"> 66</a></span>  <a class="code" href="structsmall__gicp_1_1RobustFactor.html#aec0efc27610875bab44db5ff7a2438ce">RobustFactor</a>(<span class="keyword">const</span> <a class="code" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a>& setting = <a class="code" href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">Setting</a>()) : <a class="code" href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">robust_kernel</a>(setting.<a class="code" href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">robust_kernel</a>), <a class="code" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">factor</a>(setting.<a class="code" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">factor</a>) {}</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="l00069"></a><span class="lineno"> 69</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></div>
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<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor.html#abe796549693e216c231fc8ef9d4f4891"> 70</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1RobustFactor.html#abe796549693e216c231fc8ef9d4f4891">linearize</a>(</div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">const</span> TargetPointCloud& target,</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keyword">const</span> SourcePointCloud& source,</div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">const</span> TargetTree& target_tree,</div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keyword">const</span> Eigen::Isometry3d& T,</div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">size_t</span> source_index,</div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keyword">const</span> CorrespondenceRejector& rejector,</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  Eigen::Matrix<double, 6, 6>* H,</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  Eigen::Matrix<double, 6, 1>* b,</div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordtype">double</span>* e) {</div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">if</span> (!<a class="code" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">factor</a>.linearize(target, source, target_tree, T, source_index, rejector, H, b, e)) {</div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">return</span> <span class="keyword">false</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="l00083"></a><span class="lineno"> 83</span>  </div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="comment">// Robustify the linearized factor</span></div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> w = <a class="code" href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">robust_kernel</a>.weight(std::sqrt(*e));</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  *H *= w;</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  *b *= w;</div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  *e *= w;</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"> 90</span>  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  }</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="l00094"></a><span class="lineno"> 94</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="l00095"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor.html#ad96a6c46b611c4eadbb287dfa532c79c"> 95</a></span>  <span class="keywordtype">double</span> <a class="code" href="structsmall__gicp_1_1RobustFactor.html#ad96a6c46b611c4eadbb287dfa532c79c">error</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="keyword"> const </span>{</div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keyword">const</span> <span class="keywordtype">double</span> e = <a class="code" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">factor</a>.error(target, source, T);</div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">robust_kernel</a>.weight(std::sqrt(e)) * e;</div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</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="l00101"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor.html#aa3d768312452d0c6ad68ff0f55fa6802"> 101</a></span>  <span class="keywordtype">bool</span> <a class="code" href="structsmall__gicp_1_1RobustFactor.html#aa3d768312452d0c6ad68ff0f55fa6802">inlier</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">factor</a>.inlier(); }</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"> 103</span> <span class="keyword">public</span>:</div>
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<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61"> 104</a></span>  Kernel <a class="code" href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">robust_kernel</a>; </div>
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<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919"> 105</a></span>  Factor <a class="code" href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">factor</a>; </div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> };</div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</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_1Cauchy_1_1Setting_html"><div class="ttname"><a href="structsmall__gicp_1_1Cauchy_1_1Setting.html">small_gicp::Cauchy::Setting</a></div><div class="ttdoc">Huber robust kernel setting.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:37</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Cauchy_1_1Setting_html_acf18467f27e9099ee224cb5ee4c63da7"><div class="ttname"><a href="structsmall__gicp_1_1Cauchy_1_1Setting.html#acf18467f27e9099ee224cb5ee4c63da7">small_gicp::Cauchy::Setting::c</a></div><div class="ttdeci">double c</div><div class="ttdoc">Kernel width.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:38</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Cauchy_html"><div class="ttname"><a href="structsmall__gicp_1_1Cauchy.html">small_gicp::Cauchy</a></div><div class="ttdoc">Cauchy robust kernel.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:34</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Cauchy_html_a32afe5d20f86c4d33fc303dc03a3ff79"><div class="ttname"><a href="structsmall__gicp_1_1Cauchy.html#a32afe5d20f86c4d33fc303dc03a3ff79">small_gicp::Cauchy::c</a></div><div class="ttdeci">const double c</div><div class="ttdoc">Kernel width.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:50</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Cauchy_html_a339abc1dd105822b01f51b8d3a7b4dc8"><div class="ttname"><a href="structsmall__gicp_1_1Cauchy.html#a339abc1dd105822b01f51b8d3a7b4dc8">small_gicp::Cauchy::weight</a></div><div class="ttdeci">double weight(double e) const</div><div class="ttdoc">Compute the weight for an error.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:47</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Cauchy_html_a8a3264b8fe54b2b55a32de5776e1f138"><div class="ttname"><a href="structsmall__gicp_1_1Cauchy.html#a8a3264b8fe54b2b55a32de5776e1f138">small_gicp::Cauchy::Cauchy</a></div><div class="ttdeci">Cauchy(const Setting &setting)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:42</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Huber_1_1Setting_html"><div class="ttname"><a href="structsmall__gicp_1_1Huber_1_1Setting.html">small_gicp::Huber::Setting</a></div><div class="ttdoc">Huber robust kernel setting.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:14</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Huber_1_1Setting_html_a6b238e2bf944db0b5c50d97b31243ea2"><div class="ttname"><a href="structsmall__gicp_1_1Huber_1_1Setting.html#a6b238e2bf944db0b5c50d97b31243ea2">small_gicp::Huber::Setting::c</a></div><div class="ttdeci">double c</div><div class="ttdoc">Kernel width.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:15</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Huber_html"><div class="ttname"><a href="structsmall__gicp_1_1Huber.html">small_gicp::Huber</a></div><div class="ttdoc">Huber robust kernel.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:11</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Huber_html_a2a4911cb06c8cb00be1b3a716b376bef"><div class="ttname"><a href="structsmall__gicp_1_1Huber.html#a2a4911cb06c8cb00be1b3a716b376bef">small_gicp::Huber::Huber</a></div><div class="ttdeci">Huber(const Setting &setting)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:19</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Huber_html_ab199291b6663c900ac78b33d4b0ebad6"><div class="ttname"><a href="structsmall__gicp_1_1Huber.html#ab199291b6663c900ac78b33d4b0ebad6">small_gicp::Huber::weight</a></div><div class="ttdeci">double weight(double e) const</div><div class="ttdoc">Compute the weight for an error.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:24</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1Huber_html_aecff5c9b886686dd3bf5accf7a652f6d"><div class="ttname"><a href="structsmall__gicp_1_1Huber.html#aecff5c9b886686dd3bf5accf7a652f6d">small_gicp::Huber::c</a></div><div class="ttdeci">const double c</div><div class="ttdoc">Kernel width.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:30</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_1_1Setting_html"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor_1_1Setting.html">small_gicp::RobustFactor::Setting</a></div><div class="ttdoc">Robust factor setting.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:60</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_1_1Setting_html_a207fb5bb4163655f6edc2ce3d564fe51"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor_1_1Setting.html#a207fb5bb4163655f6edc2ce3d564fe51">small_gicp::RobustFactor::Setting::robust_kernel</a></div><div class="ttdeci">Kernel::Setting robust_kernel</div><div class="ttdoc">Robust kernel setting.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:61</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_1_1Setting_html_ab3c5989f37ebed36c848e086baaba9ec"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor_1_1Setting.html#ab3c5989f37ebed36c848e086baaba9ec">small_gicp::RobustFactor::Setting::factor</a></div><div class="ttdeci">Factor::Setting factor</div><div class="ttdoc">Factor setting.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:62</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_html"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor.html">small_gicp::RobustFactor</a></div><div class="ttdoc">Robustify a factor with a robust kernel.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:57</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_html_aa3d768312452d0c6ad68ff0f55fa6802"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor.html#aa3d768312452d0c6ad68ff0f55fa6802">small_gicp::RobustFactor::inlier</a></div><div class="ttdeci">bool inlier() const</div><div class="ttdoc">Check if the factor is inlier.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:101</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_html_abe796549693e216c231fc8ef9d4f4891"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor.html#abe796549693e216c231fc8ef9d4f4891">small_gicp::RobustFactor::linearize</a></div><div class="ttdeci">bool linearize(const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const Eigen::Isometry3d &T, size_t source_index, const CorrespondenceRejector &rejector, Eigen::Matrix< double, 6, 6 > *H, Eigen::Matrix< double, 6, 1 > *b, double *e)</div><div class="ttdoc">Linearize the factor.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:70</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_html_ad96a6c46b611c4eadbb287dfa532c79c"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor.html#ad96a6c46b611c4eadbb287dfa532c79c">small_gicp::RobustFactor::error</a></div><div class="ttdeci">double error(const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T) const</div><div class="ttdoc">Evaluate error.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:95</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_html_ae91f13cb7cb259f17b634c6571b45919"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor.html#ae91f13cb7cb259f17b634c6571b45919">small_gicp::RobustFactor::factor</a></div><div class="ttdeci">Factor factor</div><div class="ttdoc">Factor.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:105</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_html_aec0efc27610875bab44db5ff7a2438ce"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor.html#aec0efc27610875bab44db5ff7a2438ce">small_gicp::RobustFactor::RobustFactor</a></div><div class="ttdeci">RobustFactor(const Setting &setting=Setting())</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:66</div></div>
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<div class="ttc" id="astructsmall__gicp_1_1RobustFactor_html_afd4b4e1f74205840d243bfc51742ac61"><div class="ttname"><a href="structsmall__gicp_1_1RobustFactor.html#afd4b4e1f74205840d243bfc51742ac61">small_gicp::RobustFactor::robust_kernel</a></div><div class="ttdeci">Kernel robust_kernel</div><div class="ttdoc">Robust kernel.</div><div class="ttdef"><b>Definition:</b> robust_kernel.hpp:104</div></div>
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