icp_outliers.c File Reference

#include <math.h>
#include "icp.h"

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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.