small_gicp::NormalCovarianceSetter< PointCloud > Struct Template Reference

Computes point normals and covariances from eigenvectors and sets them to the point cloud. More...

#include <normal_estimation.hpp>

Static Public Member Functions
static void	set_invalid (PointCloud &cloud, size_t i)
	Handle invalid case (too few points). More...
static void	set (PointCloud &cloud, size_t i, const Eigen::Matrix3d &eigenvectors)
	Compute and set the normal and covariance to the point cloud. More...

Detailed Description

template<typename PointCloud>
struct small_gicp::NormalCovarianceSetter< PointCloud >

Computes point normals and covariances from eigenvectors and sets them to the point cloud.

Note

If a sufficient number of neighbor points is not found, a zero vector and an identity matrix are set to the point.

Member Function Documentation

set()

template<typename PointCloud >

static void small_gicp::NormalCovarianceSetter< PointCloud >::set ( PointCloud &  cloud, size_t  i, const Eigen::Matrix3d &  eigenvectors  )

inlinestatic

Compute and set the normal and covariance to the point cloud.

set_invalid()

template<typename PointCloud >

static void small_gicp::NormalCovarianceSetter< PointCloud >::set_invalid ( PointCloud &  cloud, size_t  i  )

inlinestatic

Handle invalid case (too few 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/util/normal_estimation.hpp