small_gicp::GaussianVoxel Struct Reference

Gaussian voxel that computes and stores voxel mean and covariance. More...

#include <gaussian_voxelmap.hpp>

Classes
struct	Setting

Public Member Functions
	GaussianVoxel ()
	Constructor. More...
size_t	size () const
	Number of points in the voxel (Always 1 for GaussianVoxel). More...
template<typename PointCloud >
void	add (const Setting &setting, const Eigen::Vector4d &transformed_pt, const PointCloud &points, size_t i, const Eigen::Isometry3d &T)
	Add a point to the voxel. More...
void	finalize ()
	Finalize the voxel mean and covariance. More...

Public Attributes
bool	finalized
	If true, mean and cov are finalized, otherwise they represent the sum of input points. More...
size_t	num_points
	Number of input points. More...
Eigen::Vector4d	mean
	Mean. More...
Eigen::Matrix4d	cov
	Covariance. More...

Detailed Description

Gaussian voxel that computes and stores voxel mean and covariance.

Constructor & Destructor Documentation

GaussianVoxel()

small_gicp::GaussianVoxel::GaussianVoxel ( )

inline

Constructor.

Member Function Documentation

add()

template<typename PointCloud >

void small_gicp::GaussianVoxel::add ( const Setting &  setting, const Eigen::Vector4d &  transformed_pt, const PointCloud &  points, size_t  i, const Eigen::Isometry3d &  T  )

inline

Add a point to the voxel.

Parameters

setting	Setting
transformed_pt	Transformed point mean
points	Point cloud
i	Index of the point
T	Transformation matrix

finalize()

void small_gicp::GaussianVoxel::finalize ( )

inline

Finalize the voxel mean and covariance.

size()

size_t small_gicp::GaussianVoxel::size ( ) const

inline

Number of points in the voxel (Always 1 for GaussianVoxel).

Member Data Documentation

cov

Eigen::Matrix4d small_gicp::GaussianVoxel::cov

Covariance.

finalized

bool small_gicp::GaussianVoxel::finalized

If true, mean and cov are finalized, otherwise they represent the sum of input points.

mean

Eigen::Vector4d small_gicp::GaussianVoxel::mean

Mean.

num_points

size_t small_gicp::GaussianVoxel::num_points

Number of input points.

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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/gaussian_voxelmap.hpp