Single-thread reduction.
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#include <reduction.hpp>
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| template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor > |
| std::tuple< Eigen::Matrix< double, 6, 6 >, Eigen::Matrix< double, 6, 1 >, double > | linearize (const TargetPointCloud &target, const SourcePointCloud &source, const TargetTree &target_tree, const CorrespondenceRejector &rejector, const Eigen::Isometry3d &T, std::vector< Factor > &factors) const |
| | Sum up linearized systems. More...
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| template<typename TargetPointCloud , typename SourcePointCloud , typename Factor > |
| double | error (const TargetPointCloud &target, const SourcePointCloud &source, const Eigen::Isometry3d &T, std::vector< Factor > &factors) const |
| | Sum up evaluated errors. More...
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◆ error()
template<typename TargetPointCloud , typename SourcePointCloud , typename Factor >
| double small_gicp::SerialReduction::error |
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const TargetPointCloud & |
target, |
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const SourcePointCloud & |
source, |
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const Eigen::Isometry3d & |
T, |
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std::vector< Factor > & |
factors |
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) |
| const |
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inline |
Sum up evaluated errors.
- Parameters
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| target | Target point cloud |
| source | Source point cloud |
| T | Evaluation point |
| factors | Factors to be evaluated |
- Returns
- Sum of the evaluated errors
◆ linearize()
template<typename TargetPointCloud , typename SourcePointCloud , typename TargetTree , typename CorrespondenceRejector , typename Factor >
| std::tuple<Eigen::Matrix<double, 6, 6>, Eigen::Matrix<double, 6, 1>, double> small_gicp::SerialReduction::linearize |
( |
const TargetPointCloud & |
target, |
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const SourcePointCloud & |
source, |
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const TargetTree & |
target_tree, |
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const CorrespondenceRejector & |
rejector, |
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const Eigen::Isometry3d & |
T, |
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std::vector< Factor > & |
factors |
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) |
| const |
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inline |
Sum up linearized systems.
- Parameters
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| target | Target point cloud |
| source | Source point cloud |
| target_tree | Nearest neighbor search for the target point cloud |
| rejector | Correspondence rejector |
| T | Linearization point |
| factors | Factors to be linearized |
- Returns
- Sum of the linearized systems (information matrix, information vector, and error)
The documentation for this struct was generated from the following file:
- /home/runner/work/small_gicp/small_gicp/include/small_gicp/registration/reduction.hpp
