small_gicp::AxisAlignedProjection Struct Reference

Conventional axis-aligned projection (i.e., selecting any of XYZ axes with the largest variance). More...

#include <projection.hpp>

Public Member Functions
double	operator() (const Eigen::Vector4d &pt) const
	Project the point to the selected axis. More...

Static Public Member Functions
template<typename PointCloud , typename IndexConstIterator >
static AxisAlignedProjection	find_axis (const PointCloud &points, IndexConstIterator first, IndexConstIterator last, const ProjectionSetting &setting)
	Find the axis with the largest variance. More...

Public Attributes
int	axis
	Axis index (0: X, 1: Y, 2: Z) More...

Detailed Description

Conventional axis-aligned projection (i.e., selecting any of XYZ axes with the largest variance).

Note

Up to max_scan_count samples are used to estimate the variance.

Member Function Documentation

find_axis()

template<typename PointCloud , typename IndexConstIterator >

static AxisAlignedProjection small_gicp::AxisAlignedProjection::find_axis ( const PointCloud &  points, IndexConstIterator  first, IndexConstIterator  last, const ProjectionSetting &  setting  )

inlinestatic

Find the axis with the largest variance.

Parameters

points	Point cloud
first	First point index iterator
last	Last point index iterator
setting	Search setting

Returns

Projection with the largest variance axis

operator()()

double small_gicp::AxisAlignedProjection::operator() ( const Eigen::Vector4d &  pt ) const

inline

Project the point to the selected axis.

Parameters

pt	Point to project

Returns

Projected value

Member Data Documentation

axis

int small_gicp::AxisAlignedProjection::axis

Axis index (0: X, 1: Y, 2: Z)

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The documentation for this struct was generated from the following file:

• /home/runner/work/small_gicp/small_gicp/include/small_gicp/ann/projection.hpp