Point-to-plane per-point error factor.
More...
#include <plane_icp_factor.hpp>
|
| | PointToPlaneICPFactor (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 |
| |
Point-to-plane per-point error factor.
◆ PointToPlaneICPFactor()
| small_gicp::PointToPlaneICPFactor::PointToPlaneICPFactor |
( |
const Setting & |
setting = Setting() | ) |
|
|
inline |
◆ error()
template<typename TargetPointCloud , typename SourcePointCloud >
| double small_gicp::PointToPlaneICPFactor::error |
( |
const TargetPointCloud & |
target, |
|
|
const SourcePointCloud & |
source, |
|
|
const Eigen::Isometry3d & |
T |
|
) |
| const |
|
inline |
◆ inlier()
| bool small_gicp::PointToPlaneICPFactor::inlier |
( |
| ) |
const |
|
inline |
◆ linearize()
template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector >
| bool small_gicp::PointToPlaneICPFactor::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 |
◆ source_index
| size_t small_gicp::PointToPlaneICPFactor::source_index |
◆ target_index
| size_t small_gicp::PointToPlaneICPFactor::target_index |
The documentation for this struct was generated from the following file:
