diff --git a/docs/classicp_1_1_i_c_p.html b/docs/classicp_1_1_i_c_p.html index e464503..32fb398 100644 --- a/docs/classicp_1_1_i_c_p.html +++ b/docs/classicp_1_1_i_c_p.html @@ -313,7 +313,7 @@

Perform ICP for the point clouds a and b provided with ICP::begin until the cost is below convergence_threshold or until no progress is being made.

-

At least burn_in iterations will be performed.

+

At least burn_in iterations will be performed. Start with zero burn-in, and slowly increase if convergence requirements are not met.

Returns
Information about the convergence.

Definition at line 58 of file icp.cpp.

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icp
Definition geo.cpp:9
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icp::Matrix
Eigen::Matrix2d Matrix
Definition geo.h:16
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icp::Vector
Eigen::Vector2d Vector
Definition geo.h:15
icp::get_centroid
Vector get_centroid(const std::vector< Vector > &points)
Definition geo.cpp:10
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icp::Methods::registered_method_names
std::vector< std::string > registered_method_names
Definition icp.h:130
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icp::Methods::registered_method_constructors
std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:132
+ +
icp::Methods::registered_method_names
std::vector< std::string > registered_method_names
Definition icp.h:132
+
icp::Methods::registered_method_constructors
std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:134
icp::RBTransform
Rigid-body transformation.
Definition geo.h:19
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icp
Definition geo.cpp:9
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icp::Matrix
Eigen::Matrix2d Matrix
Definition geo.h:16
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93 double calculate_cost() const;
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135 };
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136}
icp::ICP
Interface for iterative closest points; please read the Detailed Description for usage information.
Definition icp.h:41
icp::ICP::previous_cost
double previous_cost
Keeps track of the previous cost to ensure that progress is being made.
Definition icp.h:60
icp::ICP::setup
virtual void setup()
Definition icp.cpp:14
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std::vector< std::string > registered_method_names
Definition icp.h:130
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std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:132
+ +
icp::Methods::registered_method_names
std::vector< std::string > registered_method_names
Definition icp.h:132
+
icp::Methods::registered_method_constructors
std::vector< std::function< std::unique_ptr< ICP >(void)> > registered_method_constructors
Definition icp.h:134
icp::RBTransform
Rigid-body transformation.
Definition geo.h:19
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1src/icp/point_to_line.o: src/icp/point_to_line.cpp src/icp/icp.h \
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Eigen::Matrix2d Matrix
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1src/icp/vanilla.o: src/icp/vanilla.cpp src/icp/icp.h src/icp/geo.h \
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2 /usr/local/include/eigen3/Eigen/Core \
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3 /usr/local/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h \
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4 /usr/local/include/eigen3/Eigen/src/Core/util/Macros.h \
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5 /usr/local/include/eigen3/Eigen/src/Core/util/ConfigureVectorization.h \
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6 /usr/local/include/eigen3/Eigen/src/Core/util/MKL_support.h \
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7 /usr/local/include/eigen3/Eigen/src/Core/util/Constants.h \
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8 /usr/local/include/eigen3/Eigen/src/Core/util/Meta.h \
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9 /usr/local/include/eigen3/Eigen/src/Core/util/ForwardDeclarations.h \
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10 /usr/local/include/eigen3/Eigen/src/Core/util/StaticAssert.h \
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11 /usr/local/include/eigen3/Eigen/src/Core/util/XprHelper.h \
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12 /usr/local/include/eigen3/Eigen/src/Core/util/Memory.h \
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13 /usr/local/include/eigen3/Eigen/src/Core/util/IntegralConstant.h \
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14 /usr/local/include/eigen3/Eigen/src/Core/util/SymbolicIndex.h \
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15 /usr/local/include/eigen3/Eigen/src/Core/NumTraits.h \
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16 /usr/local/include/eigen3/Eigen/src/Core/MathFunctions.h \
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17 /usr/local/include/eigen3/Eigen/src/Core/GenericPacketMath.h \
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18 /usr/local/include/eigen3/Eigen/src/Core/MathFunctionsImpl.h \
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19 /usr/local/include/eigen3/Eigen/src/Core/arch/Default/ConjHelper.h \
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20 /usr/local/include/eigen3/Eigen/src/Core/arch/Default/Half.h \
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21 /usr/local/include/eigen3/Eigen/src/Core/arch/Default/BFloat16.h \
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22 /usr/local/include/eigen3/Eigen/src/Core/arch/Default/TypeCasting.h \
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23 /usr/local/include/eigen3/Eigen/src/Core/arch/Default/GenericPacketMathFunctionsFwd.h \
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24 /usr/local/include/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h \
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25 /usr/local/include/eigen3/Eigen/src/Core/arch/NEON/TypeCasting.h \
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26 /usr/local/include/eigen3/Eigen/src/Core/arch/NEON/MathFunctions.h \
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27 /usr/local/include/eigen3/Eigen/src/Core/arch/NEON/Complex.h \
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28 /usr/local/include/eigen3/Eigen/src/Core/arch/Default/Settings.h \
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29 /usr/local/include/eigen3/Eigen/src/Core/arch/Default/GenericPacketMathFunctions.h \
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30 /usr/local/include/eigen3/Eigen/src/Core/functors/TernaryFunctors.h \
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31 /usr/local/include/eigen3/Eigen/src/Core/functors/BinaryFunctors.h \
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32 /usr/local/include/eigen3/Eigen/src/Core/functors/UnaryFunctors.h \
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33 /usr/local/include/eigen3/Eigen/src/Core/functors/NullaryFunctors.h \
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34 /usr/local/include/eigen3/Eigen/src/Core/functors/StlFunctors.h \
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35 /usr/local/include/eigen3/Eigen/src/Core/functors/AssignmentFunctors.h \
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36 /usr/local/include/eigen3/Eigen/src/Core/util/IndexedViewHelper.h \
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37 /usr/local/include/eigen3/Eigen/src/Core/util/ReshapedHelper.h \
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38 /usr/local/include/eigen3/Eigen/src/Core/ArithmeticSequence.h \
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39 /usr/local/include/eigen3/Eigen/src/Core/IO.h \
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40 /usr/local/include/eigen3/Eigen/src/Core/DenseCoeffsBase.h \
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41 /usr/local/include/eigen3/Eigen/src/Core/DenseBase.h \
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42 /usr/local/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h \
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43 /usr/local/include/eigen3/Eigen/src/Core/../plugins/BlockMethods.h \
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44 /usr/local/include/eigen3/Eigen/src/Core/../plugins/IndexedViewMethods.h \
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45 /usr/local/include/eigen3/Eigen/src/Core/../plugins/ReshapedMethods.h \
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46 /usr/local/include/eigen3/Eigen/src/Core/MatrixBase.h \
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47 /usr/local/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseBinaryOps.h \
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48 /usr/local/include/eigen3/Eigen/src/Core/../plugins/MatrixCwiseUnaryOps.h \
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49 /usr/local/include/eigen3/Eigen/src/Core/../plugins/MatrixCwiseBinaryOps.h \
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50 /usr/local/include/eigen3/Eigen/src/Core/EigenBase.h \
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51 /usr/local/include/eigen3/Eigen/src/Core/Product.h \
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52 /usr/local/include/eigen3/Eigen/src/Core/CoreEvaluators.h \
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53 /usr/local/include/eigen3/Eigen/src/Core/AssignEvaluator.h \
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54 /usr/local/include/eigen3/Eigen/src/Core/Assign.h \
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55 /usr/local/include/eigen3/Eigen/src/Core/ArrayBase.h \
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56 /usr/local/include/eigen3/Eigen/src/Core/../plugins/ArrayCwiseUnaryOps.h \
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57 /usr/local/include/eigen3/Eigen/src/Core/../plugins/ArrayCwiseBinaryOps.h \
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58 /usr/local/include/eigen3/Eigen/src/Core/util/BlasUtil.h \
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59 /usr/local/include/eigen3/Eigen/src/Core/DenseStorage.h \
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60 /usr/local/include/eigen3/Eigen/src/Core/NestByValue.h \
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61 /usr/local/include/eigen3/Eigen/src/Core/ReturnByValue.h \
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62 /usr/local/include/eigen3/Eigen/src/Core/NoAlias.h \
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63 /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h \
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64 /usr/local/include/eigen3/Eigen/src/Core/Matrix.h \
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65 /usr/local/include/eigen3/Eigen/src/Core/Array.h \
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66 /usr/local/include/eigen3/Eigen/src/Core/CwiseTernaryOp.h \
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67 /usr/local/include/eigen3/Eigen/src/Core/CwiseBinaryOp.h \
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68 /usr/local/include/eigen3/Eigen/src/Core/CwiseUnaryOp.h \
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69 /usr/local/include/eigen3/Eigen/src/Core/CwiseNullaryOp.h \
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70 /usr/local/include/eigen3/Eigen/src/Core/CwiseUnaryView.h \
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71 /usr/local/include/eigen3/Eigen/src/Core/SelfCwiseBinaryOp.h \
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72 /usr/local/include/eigen3/Eigen/src/Core/Dot.h \
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73 /usr/local/include/eigen3/Eigen/src/Core/StableNorm.h \
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74 /usr/local/include/eigen3/Eigen/src/Core/Stride.h \
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75 /usr/local/include/eigen3/Eigen/src/Core/MapBase.h \
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76 /usr/local/include/eigen3/Eigen/src/Core/Map.h \
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77 /usr/local/include/eigen3/Eigen/src/Core/Ref.h \
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78 /usr/local/include/eigen3/Eigen/src/Core/Block.h \
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79 /usr/local/include/eigen3/Eigen/src/Core/VectorBlock.h \
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80 /usr/local/include/eigen3/Eigen/src/Core/IndexedView.h \
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81 /usr/local/include/eigen3/Eigen/src/Core/Reshaped.h \
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82 /usr/local/include/eigen3/Eigen/src/Core/Transpose.h \
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83 /usr/local/include/eigen3/Eigen/src/Core/DiagonalMatrix.h \
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84 /usr/local/include/eigen3/Eigen/src/Core/Diagonal.h \
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85 /usr/local/include/eigen3/Eigen/src/Core/DiagonalProduct.h \
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86 /usr/local/include/eigen3/Eigen/src/Core/Redux.h \
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87 /usr/local/include/eigen3/Eigen/src/Core/Visitor.h \
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88 /usr/local/include/eigen3/Eigen/src/Core/Fuzzy.h \
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89 /usr/local/include/eigen3/Eigen/src/Core/Swap.h \
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90 /usr/local/include/eigen3/Eigen/src/Core/CommaInitializer.h \
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91 /usr/local/include/eigen3/Eigen/src/Core/GeneralProduct.h \
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92 /usr/local/include/eigen3/Eigen/src/Core/Solve.h \
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93 /usr/local/include/eigen3/Eigen/src/Core/Inverse.h \
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94 /usr/local/include/eigen3/Eigen/src/Core/SolverBase.h \
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95 /usr/local/include/eigen3/Eigen/src/Core/PermutationMatrix.h \
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96 /usr/local/include/eigen3/Eigen/src/Core/Transpositions.h \
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97 /usr/local/include/eigen3/Eigen/src/Core/TriangularMatrix.h \
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98 /usr/local/include/eigen3/Eigen/src/Core/SelfAdjointView.h \
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99 /usr/local/include/eigen3/Eigen/src/Core/products/GeneralBlockPanelKernel.h \
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100 /usr/local/include/eigen3/Eigen/src/Core/products/Parallelizer.h \
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101 /usr/local/include/eigen3/Eigen/src/Core/ProductEvaluators.h \
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102 /usr/local/include/eigen3/Eigen/src/Core/products/GeneralMatrixVector.h \
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103 /usr/local/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrix.h \
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104 /usr/local/include/eigen3/Eigen/src/Core/SolveTriangular.h \
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105 /usr/local/include/eigen3/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h \
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106 /usr/local/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixVector.h \
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107 /usr/local/include/eigen3/Eigen/src/Core/products/SelfadjointMatrixMatrix.h \
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108 /usr/local/include/eigen3/Eigen/src/Core/products/SelfadjointProduct.h \
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109 /usr/local/include/eigen3/Eigen/src/Core/products/SelfadjointRank2Update.h \
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110 /usr/local/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector.h \
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111 /usr/local/include/eigen3/Eigen/src/Core/products/TriangularMatrixMatrix.h \
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112 /usr/local/include/eigen3/Eigen/src/Core/products/TriangularSolverMatrix.h \
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113 /usr/local/include/eigen3/Eigen/src/Core/products/TriangularSolverVector.h \
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114 /usr/local/include/eigen3/Eigen/src/Core/BandMatrix.h \
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115 /usr/local/include/eigen3/Eigen/src/Core/CoreIterators.h \
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116 /usr/local/include/eigen3/Eigen/src/Core/ConditionEstimator.h \
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117 /usr/local/include/eigen3/Eigen/src/Core/arch/NEON/GeneralBlockPanelKernel.h \
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118 /usr/local/include/eigen3/Eigen/src/Core/BooleanRedux.h \
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119 /usr/local/include/eigen3/Eigen/src/Core/Select.h \
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120 /usr/local/include/eigen3/Eigen/src/Core/VectorwiseOp.h \
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121 /usr/local/include/eigen3/Eigen/src/Core/PartialReduxEvaluator.h \
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122 /usr/local/include/eigen3/Eigen/src/Core/Random.h \
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123 /usr/local/include/eigen3/Eigen/src/Core/Replicate.h \
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124 /usr/local/include/eigen3/Eigen/src/Core/Reverse.h \
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125 /usr/local/include/eigen3/Eigen/src/Core/ArrayWrapper.h \
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126 /usr/local/include/eigen3/Eigen/src/Core/StlIterators.h \
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127 /usr/local/include/eigen3/Eigen/src/Core/GlobalFunctions.h \
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128 /usr/local/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h \
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129 /usr/local/include/eigen3/Eigen/SVD /usr/local/include/eigen3/Eigen/QR \
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130 /usr/local/include/eigen3/Eigen/Cholesky \
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131 /usr/local/include/eigen3/Eigen/Jacobi \
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132 /usr/local/include/eigen3/Eigen/src/Jacobi/Jacobi.h \
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133 /usr/local/include/eigen3/Eigen/src/Cholesky/LLT.h \
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134 /usr/local/include/eigen3/Eigen/src/Cholesky/LDLT.h \
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135 /usr/local/include/eigen3/Eigen/Householder \
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137 /usr/local/include/eigen3/Eigen/src/Householder/HouseholderSequence.h \
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138 /usr/local/include/eigen3/Eigen/src/Householder/BlockHouseholder.h \
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139 /usr/local/include/eigen3/Eigen/src/QR/HouseholderQR.h \
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140 /usr/local/include/eigen3/Eigen/src/QR/FullPivHouseholderQR.h \
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141 /usr/local/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h \
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142 /usr/local/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h \
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143 /usr/local/include/eigen3/Eigen/src/misc/RealSvd2x2.h \
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144 /usr/local/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h \
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145 /usr/local/include/eigen3/Eigen/src/SVD/SVDBase.h \
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146 /usr/local/include/eigen3/Eigen/src/SVD/JacobiSVD.h \
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147 /usr/local/include/eigen3/Eigen/src/SVD/BDCSVD.h
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icp
Definition geo.cpp:9
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icp::Matrix
Eigen::Matrix2d Matrix
Definition geo.h:16
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