small_gicp::GICPFactor Struct Reference

GICP (distribution-to-distribution) per-point error factor. More...

#include <gicp_factor.hpp>

Classes
struct	Setting

Public Member Functions
	GICPFactor (const Setting &setting=Setting())
	Constructor. More...
template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector >
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)
	Linearize the factor. More...
template<typename TargetPointCloud , typename SourcePointCloud >
double	error (const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T) const
	Evaluate error. More...
bool	inlier () const
	Returns true if this factor is not rejected as an outlier. More...

Public Attributes
size_t	target_index
	Target point index. More...
size_t	source_index
	Source point index. More...
Eigen::Matrix4d	mahalanobis
	Fused precision matrix. More...

Detailed Description

GICP (distribution-to-distribution) per-point error factor.

Constructor & Destructor Documentation

GICPFactor()

small_gicp::GICPFactor::GICPFactor ( const Setting &  setting = Setting() )

inline

Constructor.

Member Function Documentation

error()

template<typename TargetPointCloud , typename SourcePointCloud >

double small_gicp::GICPFactor::error ( const TargetPointCloud &  target, const SourcePointCloud &  source, const Eigen::Isometry3d &  T  ) const

inline

Evaluate error.

Parameters

target	Target point cloud
source	Source point cloud
T	Evaluation point

Returns

Error

inlier()

bool small_gicp::GICPFactor::inlier ( ) const

inline

Returns true if this factor is not rejected as an outlier.

linearize()

template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector >

bool small_gicp::GICPFactor::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  )

inline

Linearize the factor.

Parameters

target	Target point cloud
source	Source point cloud
target_tree	Nearest neighbor search for the target point cloud
T	Linearization point
source_index	Source point index
rejector	Correspondence rejector
H	Linearized information matrix
b	Linearized information vector
e	Error at the linearization point

Returns

True if the point is inlier

Member Data Documentation

mahalanobis

Eigen::Matrix4d small_gicp::GICPFactor::mahalanobis

Fused precision matrix.

source_index

size_t small_gicp::GICPFactor::source_index

Source point index.

target_index

size_t small_gicp::GICPFactor::target_index

Target point index.

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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/factors/gicp_factor.hpp