TransformationCheckersImpl.h
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #ifndef __POINTMATCHER_TRANSFORMATIONCHECKERS_H
00037 #define __POINTMATCHER_TRANSFORMATIONCHECKERS_H
00038 
00039 #include "PointMatcher.h"
00040 
00041 template<typename T>
00042 struct TransformationCheckersImpl
00043 {
00044         typedef PointMatcherSupport::Parametrizable Parametrizable;
00045         typedef PointMatcherSupport::Parametrizable P;
00046         typedef Parametrizable::Parameters Parameters;
00047         typedef Parametrizable::ParameterDoc ParameterDoc;
00048         typedef Parametrizable::ParametersDoc ParametersDoc;
00049         
00050         typedef typename PointMatcher<T>::TransformationChecker TransformationChecker;
00051         typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
00052         typedef typename PointMatcher<T>::Vector Vector;
00053         typedef typename PointMatcher<T>::VectorVector VectorVector;
00054         typedef typename PointMatcher<T>::Quaternion Quaternion;
00055         typedef typename PointMatcher<T>::QuaternionVector QuaternionVector;
00056         typedef typename PointMatcher<T>::Matrix Matrix;
00057         
00058         struct CounterTransformationChecker: public TransformationChecker
00059         {
00060                 inline static const std::string description()
00061                 {
00062                         return "This checker stops the ICP loop after a certain number of iterations.";
00063                 }
00064                 inline static const ParametersDoc availableParameters()
00065                 {
00066                         return boost::assign::list_of<ParameterDoc>
00067                                 ( "maxIterationCount", "maximum number of iterations ", "40", "0", "2147483647", &P::Comp<unsigned> )
00068                         ;
00069                 }
00070                 
00071                 const unsigned maxIterationCount;
00072                 
00073                 CounterTransformationChecker(const Parameters& params = Parameters());
00074                 virtual void init(const TransformationParameters& parameters, bool& iterate);
00075                 virtual void check(const TransformationParameters& parameters, bool& iterate);
00076         };
00077 
00078         struct DifferentialTransformationChecker: public TransformationChecker
00079         {
00080                 inline static const std::string description()
00081                 {
00082                         return "This checker stops the ICP loop when the relative motions (i.e. abs(currentIter - lastIter)) of rotation and translation components are below a fix thresholds. This allows to stop the iteration when the point cloud is stabilized. Smoothing can be applied to avoid oscillations. Inspired by \\cite{Chetverikov2002Trimmed}.";
00083                 }
00084                 inline static const ParametersDoc availableParameters()
00085                 {
00086                         return boost::assign::list_of<ParameterDoc>
00087                                 ( "minDiffRotErr", "threshold for rotation error (radian)", "0.001", "0.", "6.2831854", &P::Comp<T> )
00088                                 ( "minDiffTransErr", "threshold for translation error", "0.001", "0.", "inf", &P::Comp<T> )
00089                                 ( "smoothLength", "number of iterations over which to average the differencial error", "3", "0", "2147483647", &P::Comp<unsigned> )
00090                         ;
00091                 }
00092                 
00093                 const T minDiffRotErr;
00094                 const T minDiffTransErr;
00095                 const unsigned int smoothLength;
00096 
00097         protected:
00098                 QuaternionVector rotations;
00099                 VectorVector translations;
00100 
00101         public:
00102                 DifferentialTransformationChecker(const Parameters& params = Parameters());
00103                 
00104                 virtual void init(const TransformationParameters& parameters, bool& iterate);
00105                 virtual void check(const TransformationParameters& parameters, bool& iterate);
00106         };
00107 
00108         struct BoundTransformationChecker: public TransformationChecker
00109         {
00110                 inline static const std::string description()
00111                 {
00112                         return "This checker stops the ICP loop with an exception when the transformation values exceed bounds.";
00113                 }
00114                 inline static const ParametersDoc availableParameters()
00115                 {
00116                         return boost::assign::list_of<ParameterDoc>
00117                                 ( "maxRotationNorm", "rotation bound", "1", "0", "inf", &P::Comp<T> )
00118                                 ( "maxTranslationNorm", "translation bound", "1", "0", "inf", &P::Comp<T> )
00119                         ;
00120                 }
00121                         
00122                 const T maxRotationNorm;
00123                 const T maxTranslationNorm;
00124                 
00125         protected:
00126                 Quaternion initialRotation3D;
00127                 T initialRotation2D;
00128                 Vector initialTranslation;
00129                 
00130         public:
00131                 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00132                 BoundTransformationChecker(const Parameters& params = Parameters());
00133                 virtual void init(const TransformationParameters& parameters, bool& iterate);
00134                 virtual void check(const TransformationParameters& parameters, bool& iterate);
00135         };
00136 }; // TransformationCheckersImpl
00137 
00138 #endif // __POINTMATCHER_TRANSFORMATIONCHECKERS_H


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autogenerated on Mon Sep 14 2015 02:59:06