| 43 | using LinearSystem = std::pair<Eigen::Matrix3d, Eigen::Vector3d>; |
| 44 | |
| 45 | struct PixelHash { |
| 46 | size_t operator()(const Eigen::Vector2i &pixel) const { |
| 47 | const uint32_t *vec = reinterpret_cast<const uint32_t *>(pixel.data()); |
| 48 | return (vec[0] * 73856093 ^ vec[1] * 19349669); |
| 49 | } |
| 50 | }; |
| 51 | |
| 52 | void TransformPoints(const Sophus::SE3d &T, Vector3dVector &pointcloud) { |
| 53 | std::transform(pointcloud.cbegin(), pointcloud.cend(), pointcloud.begin(), |
nothing calls this directly
no outgoing calls
no test coverage detected