submodules
mp2p_icp
mp2p_icp
include
mp2p_icp
estimate_points_eigen.h
Go to the documentation of this file.
1
/* -------------------------------------------------------------------------
2
* A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
3
* Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
4
* See LICENSE for license information.
5
* ------------------------------------------------------------------------- */
12
#pragma once
13
14
#include <mrpt/core/optional_ref.h>
15
#include <mrpt/math/TPoint3D.h>
// TVector3D
16
#include <mrpt/poses/CPointPDFGaussian.h>
17
18
#include <cstdint>
19
#include <optional>
20
#include <vector>
21
22
namespace
mp2p_icp
23
{
30
struct
PointCloudEigen
31
{
32
mrpt::poses::CPointPDFGaussian
meanCov
;
33
std::array<mrpt::math::TVector3D, 3>
eigVectors
= {
34
{{0, 0, 0}, {0, 0, 0}, {0, 0, 0}}};
35
std::array<double, 3>
eigVals
= {0, 0, 0};
36
};
37
56
PointCloudEigen
estimate_points_eigen
(
57
const
float
* xs,
const
float
* ys,
const
float
* zs,
58
mrpt::optional_ref<
const
std::vector<size_t>> indices,
59
std::optional<size_t> totalCount = std::nullopt);
60
61
}
// namespace mp2p_icp
mp2p_icp
Definition:
covariance.h:17
mp2p_icp::estimate_points_eigen
PointCloudEigen estimate_points_eigen(const float *xs, const float *ys, const float *zs, mrpt::optional_ref< const std::vector< size_t >> indices, std::optional< size_t > totalCount=std::nullopt)
Definition:
estimate_points_eigen.cpp:19
mp2p_icp::PointCloudEigen::eigVectors
std::array< mrpt::math::TVector3D, 3 > eigVectors
Definition:
estimate_points_eigen.h:33
mp2p_icp::PointCloudEigen
Output of estimate_points_eigen()
Definition:
estimate_points_eigen.h:30
mp2p_icp::PointCloudEigen::meanCov
mrpt::poses::CPointPDFGaussian meanCov
Definition:
estimate_points_eigen.h:32
mp2p_icp::PointCloudEigen::eigVals
std::array< double, 3 > eigVals
Definition:
estimate_points_eigen.h:35
mrpt_local_obstacles
Author(s): Jose-Luis Blanco-Claraco
autogenerated on Mon Aug 14 2023 02:09:02