se::icp Namespace Reference

Classes
struct	Data

Enumerations
enum	TrackingResult {   ResultSuccess = 1 , ResultUnknown = 0 , ResultInvalidInputNormal = -1 , ResultProjectionOutside = -2 ,   ResultInvalidRefNormal = -3 , ResultDistThreshold = -4 , ResultNormalThreshold = -5 }

Functions
Eigen::Matrix< float, 6, 6 >	makeJTJ (const Eigen::Matrix< float, 1, 21 > &v)
Eigen::Matrix< float, 6, 1 >	solve (const Eigen::Matrix< float, 1, 27 > &vals)
void	newReduce (const int block_idx, float *output_data, const Eigen::Vector2i &output_res, Data *J_data, const Eigen::Vector2i &J_res)
void	reduceKernel (float *output_data, const Eigen::Vector2i &output_res, Data *J_data, const Eigen::Vector2i &J_res)
template<typename ProjectF >
void	trackKernel (Data *output_data, const Image< Eigen::Vector3f > &input_point_cloud_S, const Image< Eigen::Vector3f > &input_normals_S, const Image< Eigen::Vector3f > &surface_point_cloud_M_ref, const Image< Eigen::Vector3f > &surface_normals_M_ref, const Eigen::Isometry3f &T_WS, const Eigen::Isometry3f &T_WS_ref, const ProjectF project, const float dist_threshold, const float normal_threshold)
	ProjectF is functor with the following declaration, returning whether the projection of point_S succeeded:
bool	updatePoseKernel (Eigen::Isometry3f &T_WS, const float *reduction_output_data, const float icp_threshold)
bool	checkPoseKernel (Eigen::Isometry3f &T_WS, Eigen::Isometry3f &previous_T_WS, const float *reduction_output_data, const Eigen::Vector2i &reduction_output_res, const float track_threshold)

Enumeration Type Documentation

TrackingResult

enum se::icp::TrackingResult

Enumerator
ResultSuccess
ResultUnknown
ResultInvalidInputNormal
ResultProjectionOutside
ResultInvalidRefNormal
ResultDistThreshold
ResultNormalThreshold

Function Documentation

makeJTJ()

Eigen::Matrix< float, 6, 6 > se::icp::makeJTJ

(

const Eigen::Matrix< float, 1, 21 > &

v

)

solve()

Eigen::Matrix< float, 6, 1 > se::icp::solve

(

const Eigen::Matrix< float, 1, 27 > &

vals

)

newReduce()

void se::icp::newReduce	(	const int	block_idx,
		float *	output_data,
		const Eigen::Vector2i &	output_res,
		Data *	J_data,
		const Eigen::Vector2i &	J_res
	)

reduceKernel()

void se::icp::reduceKernel	(	float *	output_data,
		const Eigen::Vector2i &	output_res,
		Data *	J_data,
		const Eigen::Vector2i &	J_res
	)

trackKernel()

template<typename ProjectF >

void se::icp::trackKernel	(	Data *	output_data,
		const Image< Eigen::Vector3f > &	input_point_cloud_S,
		const Image< Eigen::Vector3f > &	input_normals_S,
		const Image< Eigen::Vector3f > &	surface_point_cloud_M_ref,
		const Image< Eigen::Vector3f > &	surface_normals_M_ref,
		const Eigen::Isometry3f &	T_WS,
		const Eigen::Isometry3f &	T_WS_ref,
		const ProjectF	project,
		const float	dist_threshold,
		const float	normal_threshold
	)

ProjectF is functor with the following declaration, returning whether the projection of point_S succeeded:

*bool project(const Eigen::Vector3f& point_S, Eigen::Vector2f& pixel);

updatePoseKernel()

bool se::icp::updatePoseKernel	(	Eigen::Isometry3f &	T_WS,
		const float *	reduction_output_data,
		const float	icp_threshold
	)

checkPoseKernel()

bool se::icp::checkPoseKernel	(	Eigen::Isometry3f &	T_WS,
		Eigen::Isometry3f &	previous_T_WS,
		const float *	reduction_output_data,
		const Eigen::Vector2i &	reduction_output_res,
		const float	track_threshold
	)