small_gicp::NormalProjection Struct Reference

Normal projection (i.e., selecting the 3D direction with the largest variance of the points). More...

#include <projection.hpp>

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

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

Public Attributes
std::array< double, 3 >	normal
	Projection direction. More...

Detailed Description

Normal projection (i.e., selecting the 3D direction with the largest variance of the points).

Note

Up to max_scan_count samples are used to estimate the variance along the axis.

Member Function Documentation

find_axis()

template<typename PointCloud , typename IndexConstIterator >

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

inlinestatic

Find the direction 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 direction

operator()()

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

inline

Project the point to the normal direction.

Parameters

pt	Point to project

Returns

Projected value

Member Data Documentation

normal

std::array<double, 3> small_gicp::NormalProjection::normal

Projection direction.

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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