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utils.cuh
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utils.cuh
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#include <iostream>
#include <stdio.h>
#include <float.h>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <host_defines.h>
#include <cuda_runtime_api.h>
#include <cuda_runtime.h>
#include <device_launch_parameters.h>
#include <thrust/host_vector.h>
#include <thrust/device_vector.h>
#include <thrust/execution_policy.h>
#include <thrust/transform_reduce.h>
#include <thrust/extrema.h>
#include <thrust/pair.h>
void ComputeOptimalPoseV1(const std::vector<Eigen::Vector3f>& scan, const std::vector<Eigen::Vector4f>& map,
const Eigen::Vector3f& angular_init_pose, const int& angular_window_size, const float& angular_step_size,
const Eigen::Vector3f& linear_init_pose, const int& linear_window_size, const float& linear_step_size,
const float& map_resolution);
void ComputeOptimalPoseV2(const std::vector<Eigen::Vector3f>& scan, const std::vector<Eigen::Vector4f>& map,
const Eigen::Vector3f& angular_init_pose, const int& angular_window_size, const float& angular_step_size,
const Eigen::Vector3f& linear_init_pose, const int& linear_window_size, const float& linear_step_size,
float& map_resolution);
void ComputeOptimalPoseV3(const std::vector<Eigen::Vector3f>& scan, const std::vector<Eigen::Vector4f>& map,
const Eigen::Vector3f& angular_init_pose, const int& angular_window_size, const float& angular_step_size,
const Eigen::Vector3f& linear_init_pose, const int& linear_window_size, const float& linear_step_size,
float& map_resolution);
void ComputeOptimalPoseV4(const std::vector<Eigen::Vector3f>& scan, const std::vector<Eigen::Vector4f>& map,
const Eigen::Vector3f& angular_init_pose, const int& angular_window_size, const float& angular_step_size,
const Eigen::Vector3f& linear_init_pose, const int& linear_window_size, const float& linear_step_size,
float& map_resolution);