Registry.cpp
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00001 // vim: ts=4:sw=4:noexpandtab
00002 /*
00003 
00004 Copyright (c) 2010--2012,
00005 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00006 You can contact the authors at <f dot pomerleau at gmail dot com> and
00007 <stephane at magnenat dot net>
00008 
00009 All rights reserved.
00010 
00011 Redistribution and use in source and binary forms, with or without
00012 modification, are permitted provided that the following conditions are met:
00013     * Redistributions of source code must retain the above copyright
00014       notice, this list of conditions and the following disclaimer.
00015     * Redistributions in binary form must reproduce the above copyright
00016       notice, this list of conditions and the following disclaimer in the
00017       documentation and/or other materials provided with the distribution.
00018     * Neither the name of the <organization> nor the
00019       names of its contributors may be used to endorse or promote products
00020       derived from this software without specific prior written permission.
00021 
00022 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00023 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00024 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00025 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00026 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00027 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00029 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00030 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00031 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032 
00033 */
00034 
00035 #include "PointMatcher.h"
00036 #include "PointMatcherPrivate.h"
00037 
00038 #include "LoggerImpl.h"
00039 #include "TransformationsImpl.h"
00040 #include "DataPointsFiltersImpl.h"
00041 #include "MatchersImpl.h"
00042 #include "OutlierFiltersImpl.h"
00043 #include "ErrorMinimizersImpl.h"
00044 #include "TransformationCheckersImpl.h"
00045 #include "InspectorsImpl.h"
00046 
00047 #include <cassert>
00048 #include <iostream>
00049 #include <limits>
00050 
00051 using namespace std;
00052 using namespace PointMatcherSupport;
00053 
00055 InvalidElement::InvalidElement(const std::string& reason):
00056         runtime_error(reason)
00057 {}
00058 
00060 template<typename T>
00061 PointMatcher<T>::PointMatcher()
00062 {
00063         ADD_TO_REGISTRAR_NO_PARAM(Transformation, RigidTransformation, typename TransformationsImpl<T>::RigidTransformation)
00064         ADD_TO_REGISTRAR_NO_PARAM(Transformation, PureTranslation, typename TransformationsImpl<T>::PureTranslation)
00065         
00066         ADD_TO_REGISTRAR_NO_PARAM(DataPointsFilter, IdentityDataPointsFilter, typename DataPointsFiltersImpl<T>::IdentityDataPointsFilter)
00067         ADD_TO_REGISTRAR_NO_PARAM(DataPointsFilter, RemoveNaNDataPointsFilter, typename DataPointsFiltersImpl<T>::RemoveNaNDataPointsFilter)
00068         ADD_TO_REGISTRAR(DataPointsFilter, MaxDistDataPointsFilter, typename DataPointsFiltersImpl<T>::MaxDistDataPointsFilter)
00069         ADD_TO_REGISTRAR(DataPointsFilter, MinDistDataPointsFilter, typename DataPointsFiltersImpl<T>::MinDistDataPointsFilter)
00070         ADD_TO_REGISTRAR(DataPointsFilter, BoundingBoxDataPointsFilter, typename DataPointsFiltersImpl<T>::BoundingBoxDataPointsFilter)
00071         ADD_TO_REGISTRAR(DataPointsFilter, MaxQuantileOnAxisDataPointsFilter, typename DataPointsFiltersImpl<T>::MaxQuantileOnAxisDataPointsFilter)
00072         ADD_TO_REGISTRAR(DataPointsFilter, MaxDensityDataPointsFilter, typename DataPointsFiltersImpl<T>::MaxDensityDataPointsFilter)
00073         ADD_TO_REGISTRAR(DataPointsFilter, SurfaceNormalDataPointsFilter, typename DataPointsFiltersImpl<T>::SurfaceNormalDataPointsFilter)
00074         ADD_TO_REGISTRAR(DataPointsFilter, SamplingSurfaceNormalDataPointsFilter, typename DataPointsFiltersImpl<T>::SamplingSurfaceNormalDataPointsFilter)
00075         ADD_TO_REGISTRAR(DataPointsFilter, OrientNormalsDataPointsFilter, typename DataPointsFiltersImpl<T>::OrientNormalsDataPointsFilter)
00076         ADD_TO_REGISTRAR(DataPointsFilter, RandomSamplingDataPointsFilter, typename DataPointsFiltersImpl<T>::RandomSamplingDataPointsFilter)
00077         ADD_TO_REGISTRAR(DataPointsFilter, MaxPointCountDataPointsFilter, typename DataPointsFiltersImpl<T>::MaxPointCountDataPointsFilter)
00078         ADD_TO_REGISTRAR(DataPointsFilter, FixStepSamplingDataPointsFilter, typename DataPointsFiltersImpl<T>::FixStepSamplingDataPointsFilter)
00079         ADD_TO_REGISTRAR(DataPointsFilter, ShadowDataPointsFilter, typename DataPointsFiltersImpl<T>::ShadowDataPointsFilter)
00080         ADD_TO_REGISTRAR(DataPointsFilter, SimpleSensorNoiseDataPointsFilter, typename DataPointsFiltersImpl<T>::SimpleSensorNoiseDataPointsFilter)
00081         ADD_TO_REGISTRAR(DataPointsFilter, ObservationDirectionDataPointsFilter, typename DataPointsFiltersImpl<T>::ObservationDirectionDataPointsFilter)
00082         ADD_TO_REGISTRAR(DataPointsFilter, VoxelGridDataPointsFilter, typename DataPointsFiltersImpl<T>::VoxelGridDataPointsFilter)
00083         ADD_TO_REGISTRAR(DataPointsFilter, CutAtDescriptorThresholdDataPointsFilter, typename DataPointsFiltersImpl<T>::CutAtDescriptorThresholdDataPointsFilter)
00084         
00085         ADD_TO_REGISTRAR_NO_PARAM(Matcher, NullMatcher, typename MatchersImpl<T>::NullMatcher)
00086         ADD_TO_REGISTRAR(Matcher, KDTreeMatcher, typename MatchersImpl<T>::KDTreeMatcher)
00087         ADD_TO_REGISTRAR(Matcher, KDTreeVarDistMatcher, typename MatchersImpl<T>::KDTreeVarDistMatcher)
00088         
00089         ADD_TO_REGISTRAR_NO_PARAM(OutlierFilter, NullOutlierFilter, typename OutlierFiltersImpl<T>::NullOutlierFilter)
00090         ADD_TO_REGISTRAR(OutlierFilter, MaxDistOutlierFilter, typename OutlierFiltersImpl<T>::MaxDistOutlierFilter)
00091         ADD_TO_REGISTRAR(OutlierFilter, MinDistOutlierFilter, typename OutlierFiltersImpl<T>::MinDistOutlierFilter)
00092         ADD_TO_REGISTRAR(OutlierFilter, MedianDistOutlierFilter, typename OutlierFiltersImpl<T>::MedianDistOutlierFilter)
00093         ADD_TO_REGISTRAR(OutlierFilter, TrimmedDistOutlierFilter, typename OutlierFiltersImpl<T>::TrimmedDistOutlierFilter)
00094         ADD_TO_REGISTRAR(OutlierFilter, VarTrimmedDistOutlierFilter, typename OutlierFiltersImpl<T>::VarTrimmedDistOutlierFilter)
00095         ADD_TO_REGISTRAR(OutlierFilter, SurfaceNormalOutlierFilter, typename OutlierFiltersImpl<T>::SurfaceNormalOutlierFilter)
00096         ADD_TO_REGISTRAR(OutlierFilter, GenericDescriptorOutlierFilter, typename OutlierFiltersImpl<T>::GenericDescriptorOutlierFilter)
00097         
00098         ADD_TO_REGISTRAR_NO_PARAM(ErrorMinimizer, IdentityErrorMinimizer, typename ErrorMinimizersImpl<T>::IdentityErrorMinimizer)
00099         ADD_TO_REGISTRAR_NO_PARAM(ErrorMinimizer, PointToPointErrorMinimizer, typename ErrorMinimizersImpl<T>::PointToPointErrorMinimizer)
00100         ADD_TO_REGISTRAR(ErrorMinimizer, PointToPlaneErrorMinimizer, typename ErrorMinimizersImpl<T>::PointToPlaneErrorMinimizer)
00101         ADD_TO_REGISTRAR(ErrorMinimizer, PointToPointWithCovErrorMinimizer, typename ErrorMinimizersImpl<T>::PointToPointWithCovErrorMinimizer)
00102         ADD_TO_REGISTRAR(ErrorMinimizer, PointToPlaneWithCovErrorMinimizer, typename ErrorMinimizersImpl<T>::PointToPlaneWithCovErrorMinimizer)
00103         
00104         ADD_TO_REGISTRAR(TransformationChecker, CounterTransformationChecker, typename TransformationCheckersImpl<T>::CounterTransformationChecker)
00105         ADD_TO_REGISTRAR(TransformationChecker, DifferentialTransformationChecker, typename TransformationCheckersImpl<T>::DifferentialTransformationChecker)
00106         ADD_TO_REGISTRAR(TransformationChecker, BoundTransformationChecker, typename TransformationCheckersImpl<T>::BoundTransformationChecker)
00107         
00108         ADD_TO_REGISTRAR_NO_PARAM(Inspector, NullInspector, typename InspectorsImpl<T>::NullInspector)
00109         ADD_TO_REGISTRAR(Inspector, PerformanceInspector, typename InspectorsImpl<T>::PerformanceInspector)
00110         ADD_TO_REGISTRAR(Inspector, VTKFileInspector, typename InspectorsImpl<T>::VTKFileInspector)
00111         
00112         ADD_TO_REGISTRAR_NO_PARAM(Logger, NullLogger, NullLogger)
00113         ADD_TO_REGISTRAR(Logger, FileLogger, FileLogger)
00114 }
00115 
00116 // static instances plus wrapper function to get them from templatized static method in PointMatcher
00117 
00118 PointMatcher<float> _PointMatcherFloat;
00119 PointMatcher<double> _PointMatcherDouble;
00120 
00121 template<typename T>
00122 const PointMatcher<T>& _getPM();
00123 
00124 template<>
00125 const PointMatcher<float>& _getPM<float>() { return _PointMatcherFloat; }
00126 template<>
00127 const PointMatcher<double>& _getPM<double>() { return _PointMatcherDouble; }
00128 
00130 template<typename T>
00131 const PointMatcher<T>& PointMatcher<T>::get()
00132 {
00133         return _getPM<T>();
00134 }
00135 
00136 template const PointMatcher<float>& PointMatcher<float>::get();
00137 template const PointMatcher<double>& PointMatcher<double>::get();


libpointmatcher
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autogenerated on Mon Sep 14 2015 02:59:06