#include <ErrorMinimizersImpl.h>
Public Member Functions | |
| virtual TransformationParameters | compute (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches) |
| Find the transformation that minimizes the error. | |
| Matrix | estimateCovariance (const DataPoints &reading, const DataPoints &reference, const Matches &matches, const OutlierWeights &outlierWeights, const TransformationParameters &transformation) |
| virtual Matrix | getCovariance () const |
| If not redefined by child class, return zero matrix. | |
| virtual T | getOverlap () const |
| If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization. | |
| PointToPlaneWithCovErrorMinimizer (const Parameters ¶ms=Parameters()) | |
Static Public Member Functions | |
| static const ParametersDoc | availableParameters () |
| static const std::string | description () |
Public Attributes | |
| Matrix | covMatrix |
| const bool | force2D |
| const T | sensorStdDev |
Detailed Description
template<typename T>
struct ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer
Definition at line 124 of file ErrorMinimizersImpl.h.
Constructor & Destructor Documentation
| ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::PointToPlaneWithCovErrorMinimizer | ( | const Parameters & | params = Parameters() | ) |
Definition at line 481 of file ErrorMinimizersImpl.cpp.
Member Function Documentation
| static const ParametersDoc ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::availableParameters | ( | ) | [inline, static] |
Definition at line 131 of file ErrorMinimizersImpl.h.
| PointMatcher< T >::TransformationParameters ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::compute | ( | const DataPoints & | filteredReading, |
| const DataPoints & | filteredReference, | ||
| const OutlierWeights & | outlierWeights, | ||
| const Matches & | matches | ||
| ) | [virtual] |
Find the transformation that minimizes the error.
Implements PointMatcher< T >::ErrorMinimizer.
Definition at line 490 of file ErrorMinimizersImpl.cpp.
| static const std::string ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::description | ( | ) | [inline, static] |
Definition at line 126 of file ErrorMinimizersImpl.h.
| ErrorMinimizersImpl< T >::Matrix ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::estimateCovariance | ( | const DataPoints & | reading, |
| const DataPoints & | reference, | ||
| const Matches & | matches, | ||
| const OutlierWeights & | outlierWeights, | ||
| const TransformationParameters & | transformation | ||
| ) |
Definition at line 610 of file ErrorMinimizersImpl.cpp.
| ErrorMinimizersImpl< T >::Matrix ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::getCovariance | ( | ) | const [virtual] |
If not redefined by child class, return zero matrix.
Reimplemented from PointMatcher< T >::ErrorMinimizer.
Definition at line 737 of file ErrorMinimizersImpl.cpp.
| T ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::getOverlap | ( | ) | const [virtual] |
If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization.
Reimplemented from PointMatcher< T >::ErrorMinimizer.
Definition at line 702 of file ErrorMinimizersImpl.cpp.
Member Data Documentation
| Matrix ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::covMatrix |
Definition at line 141 of file ErrorMinimizersImpl.h.
| const bool ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::force2D |
Definition at line 139 of file ErrorMinimizersImpl.h.
| const T ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer::sensorStdDev |
Definition at line 140 of file ErrorMinimizersImpl.h.
The documentation for this struct was generated from the following files: