small_gicp::RobustFactor< Kernel, Factor > Struct Template Reference

Robustify a factor with a robust kernel. More...

#include <robust_kernel.hpp>

Classes
struct	Setting
	Robust factor setting. More...

Public Member Functions
	RobustFactor (const Setting &setting=Setting())
	Constructor. More...
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)
	Linearize the factor. More...
template<typename TargetPointCloud , typename SourcePointCloud >
double	error (const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T) const
	Evaluate error. More...
bool	inlier () const
	Check if the factor is inlier. More...

Public Attributes
Kernel	robust_kernel
	Robust kernel. More...
Factor	factor
	Factor. More...

Detailed Description

template<typename Kernel, typename Factor>
struct small_gicp::RobustFactor< Kernel, Factor >

Robustify a factor with a robust kernel.

Template Parameters

Kernel	Robust kernel
Factor	Factor

Constructor & Destructor Documentation

RobustFactor()

template<typename Kernel , typename Factor >

small_gicp::RobustFactor< Kernel, Factor >::RobustFactor ( const Setting &  setting = Setting() )

inline

Constructor.

Member Function Documentation

error()

template<typename Kernel , typename Factor >

template<typename TargetPointCloud , typename SourcePointCloud >

double small_gicp::RobustFactor< Kernel, Factor >::error ( const TargetPointCloud &  target, const SourcePointCloud &  source, const Eigen::Isometry3d &  T  ) const

inline

Evaluate error.

inlier()

template<typename Kernel , typename Factor >

bool small_gicp::RobustFactor< Kernel, Factor >::inlier ( ) const

inline

Check if the factor is inlier.

linearize()

template<typename Kernel , typename Factor >

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

bool small_gicp::RobustFactor< Kernel, Factor >::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

Linearize the factor.

Member Data Documentation

factor

template<typename Kernel , typename Factor >

Factor small_gicp::RobustFactor< Kernel, Factor >::factor

Factor.

robust_kernel

template<typename Kernel , typename Factor >

Kernel small_gicp::RobustFactor< Kernel, Factor >::robust_kernel

Robust kernel.

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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/robust_kernel.hpp