PointToPlaneWithCov.h
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6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 
36 #ifndef POINT_TO_PLANE_WITH_COV_ERROR_MINIMIZER_H
37 #define POINT_TO_PLANE_WITH_COV_ERROR_MINIMIZER_H
38 
39 #include "PointMatcher.h"
40 #include "ErrorMinimizersImpl.h"
41 
42 template<typename T>
44 {
50 
57  typedef typename PointMatcher<T>::Vector Vector;
58  typedef typename PointMatcher<T>::Matrix Matrix;
59 
60  virtual inline const std::string name()
61  {
62  return "PointToPlaneWithCovErrorMinimizer";
63  }
64 
65  inline static const std::string description()
66  {
67  return "Point-to-plane error (or point-to-line in 2D). Based on \\cite{Chen1991Point2Plane}. Covariance estimation based on \\cite{Censi2007ICPCovariance}. Implementation based on \\cite{Prakhya2015Point2Plane}.";
68  }
69 
70  static inline const ParametersDoc availableParameters()
71  {
72  return {
73  {"force2D", "If set to true(1), the minimization will be force to give a solution in 2D (i.e., on the XY-plane) even with 3D inputs.", "0", "0", "1", &P::Comp<bool>},
74  {"force4DOF", "If set to true(1), the minimization will optimize only yaw and translation, pitch and roll will follow the prior.", "0", "0", "1", &P::Comp<bool>},
75  {"sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>}
76  };
77  }
78 
79  const T sensorStdDev;
81 
83  virtual TransformationParameters compute(const ErrorElements& mPts);
84  virtual Matrix getCovariance() const;
86 };
87 
88 #endif
PointToPlaneWithCovErrorMinimizer::Vector
PointMatcher< T >::Vector Vector
Definition: PointToPlaneWithCov.h:57
PointToPlaneWithCovErrorMinimizer::name
virtual const std::string name()
Definition: PointToPlaneWithCov.h:60
PointToPlaneWithCovErrorMinimizer::compute
virtual TransformationParameters compute(const ErrorElements &mPts)
Find the transformation that minimizes the error given matched pair of points. This function most be ...
Definition: PointToPlaneWithCov.cpp:61
PointToPlaneWithCovErrorMinimizer::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: PointToPlaneWithCov.h:56
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
PointToPlaneWithCovErrorMinimizer::getCovariance
virtual Matrix getCovariance() const
If not redefined by child class, return zero matrix.
Definition: PointToPlaneWithCov.cpp:166
build_map.T
T
Definition: build_map.py:34
PointToPlaneWithCovErrorMinimizer::Parameters
Parametrizable::Parameters Parameters
Definition: PointToPlaneWithCov.h:47
PointToPlaneWithCovErrorMinimizer::sensorStdDev
const T sensorStdDev
Definition: PointToPlaneWithCov.h:79
PointToPlaneErrorMinimizer::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: PointToPlane.h:55
PointToPlaneWithCovErrorMinimizer::availableParameters
static const ParametersDoc availableParameters()
Definition: PointToPlaneWithCov.h:70
PointToPlaneWithCovErrorMinimizer::PointToPlaneWithCovErrorMinimizer
PointToPlaneWithCovErrorMinimizer(const Parameters &params=Parameters())
Definition: PointToPlaneWithCov.cpp:54
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
PointToPlaneWithCovErrorMinimizer::Matches
PointMatcher< T >::Matches Matches
Definition: PointToPlaneWithCov.h:52
ErrorMinimizersImpl.h
PointToPlaneWithCovErrorMinimizer::Matrix
PointMatcher< T >::Matrix Matrix
Definition: PointToPlaneWithCov.h:58
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointToPlaneWithCovErrorMinimizer::P
PointMatcherSupport::Parametrizable P
Definition: PointToPlaneWithCov.h:46
PointToPlaneWithCovErrorMinimizer::estimateCovariance
Matrix estimateCovariance(const ErrorElements &mPts, const TransformationParameters &transformation)
Definition: PointToPlaneWithCov.cpp:73
PointToPlaneWithCovErrorMinimizer::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: PointToPlaneWithCov.h:49
PointMatcher::ErrorMinimizer::ErrorElements
A structure holding data ready for minimization. The data are "normalized", for instance there are no...
Definition: PointMatcher.h:534
PointToPlaneWithCovErrorMinimizer::ErrorMinimizer
PointMatcher< T >::ErrorMinimizer ErrorMinimizer
Definition: PointToPlaneWithCov.h:54
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
PointToPlaneWithCovErrorMinimizer::OutlierWeights
PointMatcher< T >::OutlierWeights OutlierWeights
Definition: PointToPlaneWithCov.h:53
PointToPlaneErrorMinimizer
Definition: PointToPlane.h:42
align_sequence.params
params
Definition: align_sequence.py:13
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointToPlaneWithCovErrorMinimizer::description
static const std::string description()
Definition: PointToPlaneWithCov.h:65
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointToPlaneWithCovErrorMinimizer
Definition: PointToPlaneWithCov.h:43
PointToPlaneWithCovErrorMinimizer::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: PointToPlaneWithCov.h:45
PointToPlaneErrorMinimizer::Parameters
Parametrizable::Parameters Parameters
Definition: PointToPlane.h:46
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
PointToPlaneWithCovErrorMinimizer::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: PointToPlaneWithCov.h:48
PointToPlaneWithCovErrorMinimizer::covMatrix
Matrix covMatrix
Definition: PointToPlaneWithCov.h:80
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointToPlaneErrorMinimizer::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: PointToPlane.h:48
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
build_map.transformation
transformation
Definition: build_map.py:37
PointMatcher::ErrorMinimizer
An error minimizer will compute a transformation matrix such as to minimize the error between the rea...
Definition: PointMatcher.h:531
PointToPlaneWithCovErrorMinimizer::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: PointToPlaneWithCov.h:51
PointToPlaneWithCovErrorMinimizer::ErrorElements
PointMatcher< T >::ErrorMinimizer::ErrorElements ErrorElements
Definition: PointToPlaneWithCov.h:55
PointMatcher.h
public interface
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182


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