small_gicp::ICPFactor Struct Reference

Point-to-point per-point error factor. More...

#include <icp_factor.hpp>

Classes
struct	Setting

Public Member Functions
	ICPFactor (const Setting &setting=Setting())
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)
template<typename TargetPointCloud , typename SourcePointCloud >
double	error (const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T) const
bool	inlier () const

Public Attributes
size_t	target_index
size_t	source_index

Detailed Description

Point-to-point per-point error factor.

Constructor & Destructor Documentation

ICPFactor()

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

inline

Member Function Documentation

error()

template<typename TargetPointCloud , typename SourcePointCloud >

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

inline

inlier()

bool small_gicp::ICPFactor::inlier ( ) const

inline

linearize()

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

bool small_gicp::ICPFactor::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

Member Data Documentation

source_index

size_t small_gicp::ICPFactor::source_index

target_index

size_t small_gicp::ICPFactor::target_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/icp_factor.hpp