Functions
icp_outliers.c File Reference
#include <math.h>
#include "icp.h"
Include dependency graph for icp_outliers.c:

Go to the source code of this file.

Functions

double hoare_selection (double *data, int start, int end, int k)
void kill_outliers_double (struct sm_params *params)
void kill_outliers_trim (struct sm_params *params, double *total_error)
void quicksort (double *array, int begin, int end)
void swap_double (double *a, double *b)
void visibilityTest (LDP laser_ref, const gsl_vector *u)

Function Documentation

double hoare_selection ( double *  data,
int  start,
int  end,
int  k 
)
void kill_outliers_double ( struct sm_params params)

If multiple points in laser_sens match to the same point in laser_ref, only the nearest one wins.

Uses: laser_sens->corr, laser_sens->p Modifies: laser_sens->corr

Definition at line 42 of file icp_outliers.c.

void kill_outliers_trim ( struct sm_params params,
double *  total_error 
)

Trims the corrispondences using an adaptive algorithm

Assumes cartesian coordinates computed. (points and points_w)

So, to disable this: outliers_maxPerc = 1 outliers_adaptive_order = 1

Definition at line 83 of file icp_outliers.c.

void quicksort ( double *  array,
int  begin,
int  end 
)

Code taken from Wikipedia

Definition at line 186 of file icp_outliers.c.

void swap_double ( double *  a,
double *  b 
)

Definition at line 181 of file icp_outliers.c.

void visibilityTest ( LDP  laser_ref,
const gsl_vector *  u 
)

expects cartesian valid

Definition at line 9 of file icp_outliers.c.



csm_ros
Author(s): Gaƫl Ecorchard , Ivan Dryanovski, William Morris, Andrea Censi
autogenerated on Sat Jun 8 2019 19:52:42