Stuff common to all ICP algorithms. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICPChainBase:

Public Member Functions
unsigned	getPrefilteredReadingPtsCount () const
	Return the remaining number of points in reading after prefiltering but before the iterative process.
unsigned	getPrefilteredReferencePtsCount () const
	Return the remaining number of points in the reference after prefiltering but before the iterative process.
void	loadFromYaml (std::istream &in)
	Construct an ICP algorithm from a YAML file.
virtual void	setDefault ()
	Construct an ICP algorithm that works in most of the cases.
virtual	~ICPChainBase ()
	virtual desctructor
Public Attributes
boost::shared_ptr< ErrorMinimizer >	errorMinimizer
	error minimizer
boost::shared_ptr< Inspector >	inspector
	inspector
boost::shared_ptr< Matcher >	matcher
	matcher
OutlierFilters	outlierFilters
	outlier filters
DataPointsFilters	readingDataPointsFilters
	filters for reading, applied once
DataPointsFilters	readingStepDataPointsFilters
	filters for reading, applied at each step
DataPointsFilters	referenceDataPointsFilters
	filters for reference
TransformationCheckers	transformationCheckers
	transformation checkers
Transformations	transformations
	transformations
Protected Member Functions
void	cleanup ()
	Clean chain up, empty all filters and delete associated objects.
template<typename R >
const std::string &	createModuleFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, boost::shared_ptr< typename R::TargetType > &module)
	Instantiate a module if its name is in the YAML file.
template<typename R >
const std::string &	createModulesFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, PointMatcherSupport::SharedPtrVector< typename R::TargetType > &modules)
	Instantiate modules if their names are in the YAML file.
	ICPChainBase ()
	Protected contstructor, to prevent the creation of this object.
virtual void	loadAdditionalYAMLContent (YAML::Node &doc)
	Hook to load addition subclass-specific content from the YAML file.
Protected Attributes
unsigned	prefilteredReadingPtsCount
	remaining number of points after prefiltering but before the iterative process
unsigned	prefilteredReferencePtsCount
	remaining number of points after prefiltering but before the iterative process

Detailed Description

template<typename T>
struct PointMatcher< T >::ICPChainBase

Stuff common to all ICP algorithms.

Definition at line 580 of file PointMatcher.h.

Constructor & Destructor Documentation

template<typename T >

PointMatcher< T >::ICPChainBase::~ICPChainBase ( ) [virtual]

virtual desctructor

Definition at line 73 of file ICP.cpp.

template<typename T >

PointMatcher< T >::ICPChainBase::ICPChainBase ( ) [protected]

Protected contstructor, to prevent the creation of this object.

Definition at line 66 of file ICP.cpp.

Member Function Documentation

template<typename T >

void PointMatcher< T >::ICPChainBase::cleanup ( ) [protected]

Clean chain up, empty all filters and delete associated objects.

Definition at line 79 of file ICP.cpp.

template<typename T >

template<typename R >

const std::string & PointMatcher< T >::ICPChainBase::createModuleFromRegistrar	(	const std::string &	regName,
		const YAML::Node &	doc,
		const R &	registrar,
		boost::shared_ptr< typename R::TargetType > &	module
	)		`[protected]`

Instantiate a module if its name is in the YAML file.

Definition at line 199 of file ICP.cpp.

template<typename T >

template<typename R >

const std::string & PointMatcher< T >::ICPChainBase::createModulesFromRegistrar	(	const std::string &	regName,
		const YAML::Node &	doc,
		const R &	registrar,
		PointMatcherSupport::SharedPtrVector< typename R::TargetType > &	modules
	)		`[protected]`

Instantiate modules if their names are in the YAML file.

Definition at line 181 of file ICP.cpp.

template<typename T >

unsigned PointMatcher< T >::ICPChainBase::getPrefilteredReadingPtsCount ( ) const

Return the remaining number of points in reading after prefiltering but before the iterative process.

Definition at line 166 of file ICP.cpp.

template<typename T >

unsigned PointMatcher< T >::ICPChainBase::getPrefilteredReferencePtsCount ( ) const

Return the remaining number of points in the reference after prefiltering but before the iterative process.

Definition at line 173 of file ICP.cpp.

template<typename T >

void PointMatcher< T >::ICPChainBase::loadAdditionalYAMLContent ( YAML::Node & doc ) [protected, virtual]

Hook to load addition subclass-specific content from the YAML file.

Definition at line 94 of file ICP.cpp.

template<typename T >

void PointMatcher< T >::ICPChainBase::loadFromYaml ( std::istream & in )

Construct an ICP algorithm from a YAML file.

Definition at line 117 of file ICP.cpp.

template<typename T >

void PointMatcher< T >::ICPChainBase::setDefault ( ) [virtual]

Construct an ICP algorithm that works in most of the cases.

Definition at line 100 of file ICP.cpp.

Member Data Documentation

template<typename T>

boost::shared_ptr<ErrorMinimizer> PointMatcher< T >::ICPChainBase::errorMinimizer

error minimizer

Definition at line 589 of file PointMatcher.h.

template<typename T>

boost::shared_ptr<Inspector> PointMatcher< T >::ICPChainBase::inspector

inspector

Definition at line 591 of file PointMatcher.h.

template<typename T>

boost::shared_ptr<Matcher> PointMatcher< T >::ICPChainBase::matcher

matcher

Definition at line 587 of file PointMatcher.h.

template<typename T>

OutlierFilters PointMatcher< T >::ICPChainBase::outlierFilters

outlier filters

Definition at line 588 of file PointMatcher.h.

template<typename T>

unsigned PointMatcher< T >::ICPChainBase::prefilteredReadingPtsCount [protected]

remaining number of points after prefiltering but before the iterative process

Definition at line 602 of file PointMatcher.h.

template<typename T>

unsigned PointMatcher< T >::ICPChainBase::prefilteredReferencePtsCount [protected]

remaining number of points after prefiltering but before the iterative process

Definition at line 603 of file PointMatcher.h.

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::readingDataPointsFilters

filters for reading, applied once

Definition at line 583 of file PointMatcher.h.

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::readingStepDataPointsFilters

filters for reading, applied at each step

Definition at line 584 of file PointMatcher.h.

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::referenceDataPointsFilters

filters for reference

Definition at line 585 of file PointMatcher.h.

template<typename T>

TransformationCheckers PointMatcher< T >::ICPChainBase::transformationCheckers

transformation checkers

Definition at line 590 of file PointMatcher.h.

template<typename T>

Transformations PointMatcher< T >::ICPChainBase::transformations

transformations

Definition at line 586 of file PointMatcher.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<typename T> struct PointMatcher< T >::ICPChainBase

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
struct PointMatcher< T >::ICPChainBase