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<li class="navelem"><a class="el" href="namespacesmall__gicp.html">small_gicp</a></li><li class="navelem"><a class="el" href="structsmall__gicp_1_1NormalProjection.html">NormalProjection</a></li> </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="structsmall__gicp_1_1NormalProjection-members.html">List of all members</a> </div>
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<div class="title">small_gicp::NormalProjection Struct Reference</div> </div>
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<p>Normal projection (i.e., selecting the 3D direction with the largest variance of the points).
<a href="structsmall__gicp_1_1NormalProjection.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="projection_8hpp_source.html">projection.hpp</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ab249d80db1af4c8c093bebc8baefa801"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1NormalProjection.html#ab249d80db1af4c8c093bebc8baefa801">operator()</a> (const Eigen::Vector4d &amp;pt) const</td></tr>
<tr class="memdesc:ab249d80db1af4c8c093bebc8baefa801"><td class="mdescLeft">&#160;</td><td class="mdescRight">Project the point to the normal direction. <a href="structsmall__gicp_1_1NormalProjection.html#ab249d80db1af4c8c093bebc8baefa801">More...</a><br /></td></tr>
<tr class="separator:ab249d80db1af4c8c093bebc8baefa801"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
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Static Public Member Functions</h2></td></tr>
<tr class="memitem:a656395ece294173196c38999f5409c0d"><td class="memTemplParams" colspan="2">template&lt;typename PointCloud , typename IndexConstIterator &gt; </td></tr>
<tr class="memitem:a656395ece294173196c38999f5409c0d"><td class="memTemplItemLeft" align="right" valign="top">static <a class="el" href="structsmall__gicp_1_1NormalProjection.html">NormalProjection</a>&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1NormalProjection.html#a656395ece294173196c38999f5409c0d">find_axis</a> (const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;points, IndexConstIterator first, IndexConstIterator last, const <a class="el" href="structsmall__gicp_1_1ProjectionSetting.html">ProjectionSetting</a> &amp;setting)</td></tr>
<tr class="memdesc:a656395ece294173196c38999f5409c0d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the direction with the largest variance. <a href="structsmall__gicp_1_1NormalProjection.html#a656395ece294173196c38999f5409c0d">More...</a><br /></td></tr>
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Public Attributes</h2></td></tr>
<tr class="memitem:acda76271fab04ef9a84e8676e2937e8b"><td class="memItemLeft" align="right" valign="top">std::array&lt; double, 3 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structsmall__gicp_1_1NormalProjection.html#acda76271fab04ef9a84e8676e2937e8b">normal</a></td></tr>
<tr class="memdesc:acda76271fab04ef9a84e8676e2937e8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Projection direction. <a href="structsmall__gicp_1_1NormalProjection.html#acda76271fab04ef9a84e8676e2937e8b">More...</a><br /></td></tr>
<tr class="separator:acda76271fab04ef9a84e8676e2937e8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Normal projection (i.e., selecting the 3D direction with the largest variance of the points). </p>
<dl class="section note"><dt>Note</dt><dd>Up to max_scan_count samples are used to estimate the variance along the axis. </dd></dl>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a656395ece294173196c38999f5409c0d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a656395ece294173196c38999f5409c0d">&#9670;&nbsp;</a></span>find_axis()</h2>
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<div class="memproto">
<div class="memtemplate">
template&lt;typename PointCloud , typename IndexConstIterator &gt; </div>
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<td class="memname">static <a class="el" href="structsmall__gicp_1_1NormalProjection.html">NormalProjection</a> small_gicp::NormalProjection::find_axis </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structsmall__gicp_1_1PointCloud.html">PointCloud</a> &amp;&#160;</td>
<td class="paramname"><em>points</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">IndexConstIterator&#160;</td>
<td class="paramname"><em>first</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">IndexConstIterator&#160;</td>
<td class="paramname"><em>last</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structsmall__gicp_1_1ProjectionSetting.html">ProjectionSetting</a> &amp;&#160;</td>
<td class="paramname"><em>setting</em>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span> </td>
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<p>Find the direction with the largest variance. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">points</td><td>Point cloud </td></tr>
<tr><td class="paramname">first</td><td>First point index iterator </td></tr>
<tr><td class="paramname">last</td><td>Last point index iterator </td></tr>
<tr><td class="paramname">setting</td><td>Search setting </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Projection with the largest variance direction </dd></dl>
</div>
</div>
<a id="ab249d80db1af4c8c093bebc8baefa801"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab249d80db1af4c8c093bebc8baefa801">&#9670;&nbsp;</a></span>operator()()</h2>
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<div class="memproto">
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<tr>
<td class="mlabels-left">
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<td class="memname">double small_gicp::NormalProjection::operator() </td>
<td>(</td>
<td class="paramtype">const Eigen::Vector4d &amp;&#160;</td>
<td class="paramname"><em>pt</em></td><td>)</td>
<td> const</td>
</tr>
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<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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<p>Project the point to the normal direction. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">pt</td><td>Point to project </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Projected value </dd></dl>
</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="acda76271fab04ef9a84e8676e2937e8b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acda76271fab04ef9a84e8676e2937e8b">&#9670;&nbsp;</a></span>normal</h2>
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<td class="memname">std::array&lt;double, 3&gt; small_gicp::NormalProjection::normal</td>
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</div><div class="memdoc">
<p>Projection direction. </p>
</div>
</div>
<hr/>The documentation for this struct was generated from the following file:<ul>
<li>/home/runner/work/small_gicp/small_gicp/include/small_gicp/ann/<a class="el" href="projection_8hpp_source.html">projection.hpp</a></li>
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