Stuff common to all ICP algorithms. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICPChainBase:

Public Member Functions
template<typename R >
const std::string &	createModuleFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, std::shared_ptr< typename R::TargetType > &module)
	Instantiate a module if its name is in the YAML file. More...

template<typename R >
const std::string &	createModulesFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules)
	Instantiate modules if their names are in the YAML file. More...

bool	getMaxNumIterationsReached () const
	Return the flag that informs if we reached the maximum number of iterations during the last iterative process. More...

unsigned	getPrefilteredReadingPtsCount () const
	Return the remaining number of points in reading after prefiltering but before the iterative process. More...

unsigned	getPrefilteredReferencePtsCount () const
	Return the remaining number of points in the reference after prefiltering but before the iterative process. More...

virtual void	loadFromYaml (std::istream &in)
	Construct an ICP algorithm from a YAML file. More...

virtual void	setDefault ()
	Construct an ICP algorithm that works in most of the cases. More...

virtual	~ICPChainBase ()
	virtual desctructor More...

Public Attributes
std::shared_ptr< ErrorMinimizer >	errorMinimizer
	error minimizer More...

std::shared_ptr< Inspector >	inspector
	inspector More...

std::shared_ptr< Matcher >	matcher
	matcher More...

OutlierFilters	outlierFilters
	outlier filters More...

DataPointsFilters	readingDataPointsFilters
	filters for reading, applied once More...

DataPointsFilters	readingStepDataPointsFilters
	filters for reading, applied at each step More...

DataPointsFilters	referenceDataPointsFilters
	filters for reference More...

TransformationCheckers	transformationCheckers
	transformation checkers More...

Transformations	transformations
	transformations More...

Protected Member Functions
void	cleanup ()
	Clean chain up, empty all filters and delete associated objects. More...

template<typename R >
const std::string &	createModuleFromRegistrar (const std::string &regName, const PointMatcherSupport::YAML::Node &doc, const R &registrar, std::shared_ptr< typename R::TargetType > &module)
	Instantiate a module if its name is in the YAML file. More...

template<typename R >
const std::string &	createModulesFromRegistrar (const std::string &regName, const PointMatcherSupport::YAML::Node &doc, const R &registrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules)
	Instantiate modules if their names are in the YAML file. More...

	ICPChainBase ()
	Protected contstructor, to prevent the creation of this object. More...

virtual void	loadAdditionalYAMLContent (PointMatcherSupport::YAML::Node &doc)
	Hook to load addition subclass-specific content from the YAML file. More...

std::string	nodeVal (const std::string &regName, const PointMatcherSupport::YAML::Node &doc)
	Get the value of a field in a node. More...

Protected Attributes
bool	maxNumIterationsReached
	store if we reached the maximum number of iterations last time compute was called More...

unsigned	prefilteredReadingPtsCount
	remaining number of points after prefiltering but before the iterative process More...

unsigned	prefilteredReferencePtsCount
	remaining number of points after prefiltering but before the iterative process More...

Detailed Description

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

Stuff common to all ICP algorithms.

Definition at line 655 of file PointMatcher.h.

Constructor & Destructor Documentation

◆ ~ICPChainBase()

template<typename T >

PointMatcher< T >::ICPChainBase::~ICPChainBase ( )

virtual

virtual desctructor

Definition at line 73 of file ICP.cpp.

◆ ICPChainBase()

template<typename T >

PointMatcher< T >::ICPChainBase::ICPChainBase ( )

protected

Protected contstructor, to prevent the creation of this object.

Definition at line 65 of file ICP.cpp.

Member Function Documentation

◆ cleanup()

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.

◆ createModuleFromRegistrar() [1/2]

template<typename T>

template<typename R >

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

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

Definition at line 211 of file ICP.cpp.

◆ createModuleFromRegistrar() [2/2]

template<typename T>

template<typename R >

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

protected

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

◆ createModulesFromRegistrar() [1/2]

template<typename T>

template<typename R >

const std::string& PointMatcher< T >::ICPChainBase::createModulesFromRegistrar	(	const std::string &	regName,
		const YAML::Node &	doc,
		const R &	registrar,
		std::vector< std::shared_ptr< typename R::TargetType > > &	modules
	)

Instantiate modules if their names are in the YAML file.

Definition at line 193 of file ICP.cpp.

◆ createModulesFromRegistrar() [2/2]

template<typename T>

template<typename R >

const std::string& PointMatcher< T >::ICPChainBase::createModulesFromRegistrar	(	const std::string &	regName,
		const PointMatcherSupport::YAML::Node &	doc,
		const R &	registrar,
		std::vector< std::shared_ptr< typename R::TargetType > > &	modules
	)

protected

Instantiate modules if their names are in the YAML file.

◆ getMaxNumIterationsReached()

template<typename T >

bool PointMatcher< T >::ICPChainBase::getMaxNumIterationsReached ( ) const

Return the flag that informs if we reached the maximum number of iterations during the last iterative process.

Definition at line 185 of file ICP.cpp.

◆ getPrefilteredReadingPtsCount()

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 171 of file ICP.cpp.

◆ getPrefilteredReferencePtsCount()

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 178 of file ICP.cpp.

◆ loadAdditionalYAMLContent()

template<typename T>

void PointMatcher< T >::ICPChainBase::loadAdditionalYAMLContent ( PointMatcherSupport::YAML::Node & doc )

protectedvirtual

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

Definition at line 94 of file ICP.cpp.

◆ loadFromYaml()

template<typename T >

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

virtual

Construct an ICP algorithm from a YAML file.

Reimplemented in PointMatcher< T >::ICPSequence.

Definition at line 117 of file ICP.cpp.

◆ nodeVal()

template<typename T >

std::string PointMatcher< T >::ICPChainBase::nodeVal	(	const std::string &	regName,
		const PointMatcherSupport::YAML::Node &	doc
	)

protected

Get the value of a field in a node.

Definition at line 225 of file ICP.cpp.

◆ setDefault()

template<typename T >

void PointMatcher< T >::ICPChainBase::setDefault ( )

virtual

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

Reimplemented in PointMatcher< T >::ICPSequence.

Definition at line 100 of file ICP.cpp.

Member Data Documentation

◆ errorMinimizer

template<typename T>

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

error minimizer

Definition at line 664 of file PointMatcher.h.

◆ inspector

template<typename T>

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

inspector

Definition at line 666 of file PointMatcher.h.

◆ matcher

template<typename T>

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

matcher

Definition at line 662 of file PointMatcher.h.

◆ maxNumIterationsReached

template<typename T>

bool PointMatcher< T >::ICPChainBase::maxNumIterationsReached

protected

store if we reached the maximum number of iterations last time compute was called

Definition at line 681 of file PointMatcher.h.

◆ outlierFilters

template<typename T>

OutlierFilters PointMatcher< T >::ICPChainBase::outlierFilters

outlier filters

Definition at line 663 of file PointMatcher.h.

◆ prefilteredReadingPtsCount

template<typename T>

unsigned PointMatcher< T >::ICPChainBase::prefilteredReadingPtsCount

protected

remaining number of points after prefiltering but before the iterative process

Definition at line 679 of file PointMatcher.h.

◆ prefilteredReferencePtsCount

template<typename T>

unsigned PointMatcher< T >::ICPChainBase::prefilteredReferencePtsCount

protected

remaining number of points after prefiltering but before the iterative process

Definition at line 680 of file PointMatcher.h.

◆ readingDataPointsFilters

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::readingDataPointsFilters

filters for reading, applied once

Definition at line 658 of file PointMatcher.h.

◆ readingStepDataPointsFilters

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::readingStepDataPointsFilters

filters for reading, applied at each step

Definition at line 659 of file PointMatcher.h.

◆ referenceDataPointsFilters

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::referenceDataPointsFilters

filters for reference

Definition at line 660 of file PointMatcher.h.

◆ transformationCheckers

template<typename T>

TransformationCheckers PointMatcher< T >::ICPChainBase::transformationCheckers

transformation checkers

Definition at line 665 of file PointMatcher.h.

◆ transformations

template<typename T>

Transformations PointMatcher< T >::ICPChainBase::transformations

transformations

Definition at line 661 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

◆ ~ICPChainBase()

◆ ICPChainBase()

Member Function Documentation

◆ cleanup()

◆ createModuleFromRegistrar() [1/2]

◆ createModuleFromRegistrar() [2/2]

◆ createModulesFromRegistrar() [1/2]

◆ createModulesFromRegistrar() [2/2]

◆ getMaxNumIterationsReached()

◆ getPrefilteredReadingPtsCount()

◆ getPrefilteredReferencePtsCount()

◆ loadAdditionalYAMLContent()

◆ loadFromYaml()

◆ nodeVal()

◆ setDefault()

Member Data Documentation

◆ errorMinimizer

◆ inspector

◆ matcher

◆ maxNumIterationsReached

◆ outlierFilters

◆ prefilteredReadingPtsCount

◆ prefilteredReferencePtsCount

◆ readingDataPointsFilters

◆ readingStepDataPointsFilters

◆ referenceDataPointsFilters

◆ transformationCheckers

◆ transformations

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