Functions and classes that are dependant on scalar type are defined in this templatized class. More...

#include <PointMatcher.h>

Classes
struct	ConvergenceError
	Point matcher did not converge. More...
struct	DataPoints
	A point cloud. More...
struct	DataPointsFilter
	A data filter takes a point cloud as input, transforms it, and produces another point cloud as output. More...
struct	DataPointsFilters
	A chain of DataPointsFilter. More...
struct	ErrorMinimizer
	An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More...
struct	ICP
	ICP algorithm. More...
struct	ICPChainBase
	Stuff common to all ICP algorithms. More...
struct	ICPSequence
struct	Inspector
	An inspector allows to log data at the different steps, for analysis. More...
struct	Matcher
	A matcher links points in the reading to points in the reference. More...
struct	Matches
	Result of the data-association step (Matcher::findClosests), before outlier rejection. More...
struct	OutlierFilter
	An outlier filter removes or weights links between points in reading and their matched points in reference, depending on some criteria. More...
struct	OutlierFilters
	A chain of OutlierFilter. More...
struct	Transformation
	A function that transforms points and their descriptors given a transformation matrix. More...
struct	TransformationChecker
	A transformation checker can stop the iteration depending on some conditions. More...
struct	TransformationCheckers
	A chain of TransformationChecker. More...
struct	Transformations
	A chain of Transformation. More...
Public Types
typedef Eigen::Array< T, Eigen::Dynamic, Eigen::Dynamic >	Array
	A dense array over ScalarType.
typedef DataPointsFilters::const_iterator	DataPointsFiltersConstIt
	alias
typedef DataPointsFilters::iterator	DataPointsFiltersIt
	alias
typedef Eigen::Matrix < std::int64_t, Eigen::Dynamic, Eigen::Dynamic >	Int64Matrix
	A dense signed 64-bits matrix.
typedef Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic >	IntMatrix
	A dense integer matrix.
typedef Parametrizable::InvalidParameter	InvalidParameter
	alias
typedef Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic >	Matrix
	A dense matrix over ScalarType.
typedef OutlierFilters::const_iterator	OutlierFiltersConstIt
	alias
typedef OutlierFilters::iterator	OutlierFiltersIt
	alias
typedef Matrix	OutlierWeights
	Weights of the associations between the points in Matches and the points in the reference.
typedef Parametrizable::ParameterDoc	ParameterDoc
	alias
typedef Parametrizable::Parameters	Parameters
	alias
typedef Parametrizable::ParametersDoc	ParametersDoc
	alias
typedef PointMatcherSupport::Parametrizable	Parametrizable
	alias
typedef Eigen::Quaternion< T >	Quaternion
	A quaternion over ScalarType.
typedef std::vector < Quaternion, Eigen::aligned_allocator < Quaternion > >	QuaternionVector
	A vector of quaternions over ScalarType.
typedef T	ScalarType
	The scalar type.
typedef TransformationCheckers::const_iterator	TransformationCheckersConstIt
	alias
typedef TransformationCheckers::iterator	TransformationCheckersIt
	alias
typedef Matrix	TransformationParameters
	A matrix holding the parameters a transformation.
typedef Transformations::const_iterator	TransformationsConstIt
	alias
typedef Transformations::iterator	TransformationsIt
	alias
typedef Eigen::Matrix< T, Eigen::Dynamic, 1 >	Vector
	A vector over ScalarType.
typedef std::vector< Vector, Eigen::aligned_allocator < Vector > >	VectorVector
	A vector of vector over ScalarType, not a matrix.
Public Member Functions
	PointMatcher ()
	Constructor, populates the registrars.
Static Public Member Functions
static const PointMatcher &	get ()
	Return instances.
static void	swapDataPoints (DataPoints &a, DataPoints &b)
	Exchange in place point clouds a and b, with no data copy.

Detailed Description

template<typename T>
struct PointMatcher< T >

Functions and classes that are dependant on scalar type are defined in this templatized class.

Definition at line 122 of file PointMatcher.h.

Member Typedef Documentation

template<typename T>

typedef Eigen::Array<T, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::Array

A dense array over ScalarType.

Definition at line 167 of file PointMatcher.h.

template<typename T>

typedef DataPointsFilters::const_iterator PointMatcher< T >::DataPointsFiltersConstIt

alias

Definition at line 452 of file PointMatcher.h.

template<typename T>

typedef DataPointsFilters::iterator PointMatcher< T >::DataPointsFiltersIt

alias

Definition at line 451 of file PointMatcher.h.

template<typename T>

typedef Eigen::Matrix<std::int64_t, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::Int64Matrix

A dense signed 64-bits matrix.

Definition at line 165 of file PointMatcher.h.

template<typename T>

typedef Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::IntMatrix

A dense integer matrix.

Definition at line 163 of file PointMatcher.h.

template<typename T>

typedef Parametrizable::InvalidParameter PointMatcher< T >::InvalidParameter

alias

Definition at line 181 of file PointMatcher.h.

template<typename T>

typedef Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::Matrix

A dense matrix over ScalarType.

Definition at line 161 of file PointMatcher.h.

template<typename T>

typedef OutlierFilters::const_iterator PointMatcher< T >::OutlierFiltersConstIt

alias

Definition at line 508 of file PointMatcher.h.

template<typename T>

typedef OutlierFilters::iterator PointMatcher< T >::OutlierFiltersIt

alias

Definition at line 509 of file PointMatcher.h.

template<typename T>

typedef Matrix PointMatcher< T >::OutlierWeights

Weights of the associations between the points in Matches and the points in the reference.

A weight of 0 means no association, while a weight of 1 means a complete trust in association.

Definition at line 389 of file PointMatcher.h.

template<typename T>

typedef Parametrizable::ParameterDoc PointMatcher< T >::ParameterDoc

alias

Definition at line 179 of file PointMatcher.h.

template<typename T>

typedef Parametrizable::Parameters PointMatcher< T >::Parameters

alias

Definition at line 178 of file PointMatcher.h.

template<typename T>

typedef Parametrizable::ParametersDoc PointMatcher< T >::ParametersDoc

alias

Definition at line 180 of file PointMatcher.h.

template<typename T>

typedef PointMatcherSupport::Parametrizable PointMatcher< T >::Parametrizable

alias

Definition at line 177 of file PointMatcher.h.

template<typename T>

typedef Eigen::Quaternion<T> PointMatcher< T >::Quaternion

A quaternion over ScalarType.

Definition at line 157 of file PointMatcher.h.

template<typename T>

typedef std::vector<Quaternion, Eigen::aligned_allocator<Quaternion> > PointMatcher< T >::QuaternionVector

A vector of quaternions over ScalarType.

Definition at line 159 of file PointMatcher.h.

template<typename T>

typedef T PointMatcher< T >::ScalarType

The scalar type.

Definition at line 151 of file PointMatcher.h.

template<typename T>

typedef TransformationCheckers::const_iterator PointMatcher< T >::TransformationCheckersConstIt

alias

Definition at line 606 of file PointMatcher.h.

template<typename T>

typedef TransformationCheckers::iterator PointMatcher< T >::TransformationCheckersIt

alias

Definition at line 605 of file PointMatcher.h.

template<typename T>

typedef Matrix PointMatcher< T >::TransformationParameters

A matrix holding the parameters a transformation.

The transformation lies in the special Euclidean group of dimension $n$ , $SE(n)$ , implemented as a dense matrix of size $n+1 \times n+1$ over ScalarType.

Definition at line 174 of file PointMatcher.h.

template<typename T>

typedef Transformations::const_iterator PointMatcher< T >::TransformationsConstIt

alias

Definition at line 419 of file PointMatcher.h.

template<typename T>

typedef Transformations::iterator PointMatcher< T >::TransformationsIt

alias

Definition at line 418 of file PointMatcher.h.

template<typename T>

typedef Eigen::Matrix<T, Eigen::Dynamic, 1> PointMatcher< T >::Vector

A vector over ScalarType.

Definition at line 153 of file PointMatcher.h.

template<typename T>

typedef std::vector<Vector, Eigen::aligned_allocator<Vector> > PointMatcher< T >::VectorVector

A vector of vector over ScalarType, not a matrix.

Definition at line 155 of file PointMatcher.h.

Constructor & Destructor Documentation

template<typename T >

PointMatcher< T >::PointMatcher ( )

Constructor, populates the registrars.

Definition at line 61 of file Registry.cpp.

Member Function Documentation

template<typename T >

template const PointMatcher< double > & PointMatcher< T >::get ( ) [static]

Return instances.

Definition at line 141 of file Registry.cpp.

template<typename T >

template void PointMatcher< T >::swapDataPoints	(	DataPoints &	a,
		DataPoints &	b
	)		`[static]`

Exchange in place point clouds a and b, with no data copy.

Definition at line 1022 of file pointmatcher/DataPoints.cpp.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

template<typename T> struct PointMatcher< T >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename T>
struct PointMatcher< T >