Linear container for incremental covariance and normal estimation.
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#include <incremental_covariance_container.hpp>
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| IncrementalCovarianceContainer () |
| | Constructor.
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size_t | size () const |
| | Number of points in the container.
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void | add (const Setting &setting, const PointCloud &points, size_t i) |
| | Add a point to the container.
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void | finalize () |
| | Finalize the container (Nothing to do for FlatContainer).
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| template<typename Result > |
| void | knn_search (const Eigen::Vector4d &pt, Result &result) const |
| | Find k nearest neighbors.
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| template<typename Result > |
| void | knn_search_force (const Eigen::Vector4d &pt, Result &result) const |
| | Find k nearest neighbors.
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void | set_valid (int i) |
| | Set the i-th point as valid.
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bool | valid (int i) const |
| | Check if the i-th point is valid.
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size_t | birthday (int i) const |
| | Get the time when the i-th point was inserted.
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size_t | age (int i, size_t lru) const |
| | Get the time since the i-th point was inserted.
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size_t | remove_old_invalid (int age_thresh, size_t lru) |
| | Remove old invalid points.
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std::vector< Eigen::Vector4d > | points |
| | Points.
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std::vector< size_t > | flags |
| | State flags.
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std::vector< Eigen::Vector4d > | normals |
| | Normals.
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std::vector< Eigen::Matrix4d > | covs |
| | Covariances.
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static constexpr size_t | VALID_BIT = 1ull << 63 |
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static constexpr size_t | BIRTHDAY_MASK = (VALID_BIT >> 1) - 1 |
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Linear container for incremental covariance and normal estimation.
◆ knn_search()
template<typename Result >
| void gtsam_points::IncrementalCovarianceContainer::knn_search |
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const Eigen::Vector4d & |
pt, |
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Result & |
result |
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inline |
Find k nearest neighbors.
- Parameters
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| pt | Query point |
| result | Result |
◆ knn_search_force()
template<typename Result >
| void gtsam_points::IncrementalCovarianceContainer::knn_search_force |
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const Eigen::Vector4d & |
pt, |
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Result & |
result |
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| const |
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inline |
Find k nearest neighbors.
- Parameters
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| pt | Query point |
| result | Result |
The documentation for this struct was generated from the following file:
