PointToPointSimilarity.h
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5 Copyright (c) 2010--2012,
6 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 
36 #ifndef LIBPOINTMATCHER_POINTTOPOINTSIMILARITY_H
37 #define LIBPOINTMATCHER_POINTTOPOINTSIMILARITY_H
38 
39 #include "PointMatcher.h"
40 
41 template<typename T>
43 {
49  typedef typename PointMatcher<T>::Vector Vector;
50  typedef typename PointMatcher<T>::Matrix Matrix;
52 
53  inline static const std::string description()
54  {
55  return "Point-to-point similarity error (rotation + translation + scale). The scale is the same for all coordinates. Based on SVD decomposition. Per \\cite{Umeyama1991}.";
56  }
57 
58  PointToPointSimilarityErrorMinimizer(): ErrorMinimizer("PointToPointSimilarityErrorMinimizer",
61  //virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
62  virtual TransformationParameters compute(const ErrorElements& mPts);
63  virtual T getResidualError(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches) const;
64  virtual T getOverlap() const;
65 };
66 
67 
68 #endif //LIBPOINTMATCHER_POINTTOPOINTSIMILARITY_H
PointToPointSimilarityErrorMinimizer
Definition: PointToPointSimilarity.h:42
PointToPointSimilarityErrorMinimizer::Vector
PointMatcher< T >::Vector Vector
Definition: PointToPointSimilarity.h:49
PointToPointSimilarityErrorMinimizer::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: PointToPointSimilarity.h:46
Matches
PM::Matches Matches
Definition: pypoint_matcher_helper.h:19
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
PointToPointSimilarityErrorMinimizer::PointToPointSimilarityErrorMinimizer
PointToPointSimilarityErrorMinimizer()
Definition: PointToPointSimilarity.h:58
build_map.T
T
Definition: build_map.py:34
PointToPointSimilarityErrorMinimizer::getResidualError
virtual T getResidualError(const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches) const
If not redefined by child class, return max value for T.
Definition: PointToPointSimilarity.cpp:101
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointToPointSimilarityErrorMinimizer::Matches
PointMatcher< T >::Matches Matches
Definition: PointToPointSimilarity.h:48
PointMatcher::ErrorMinimizer::ErrorElements
A structure holding data ready for minimization. The data are "normalized", for instance there are no...
Definition: PointMatcher.h:534
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
PointToPointSimilarityErrorMinimizer::getOverlap
virtual T getOverlap() const
If not redefined by child class, return the ratio of how many points were used (with weight) for erro...
Definition: PointToPointSimilarity.cpp:116
OutlierWeights
PM::OutlierWeights OutlierWeights
Definition: pypoint_matcher_helper.h:64
icp_advance_api.matches
matches
Definition: icp_advance_api.py:114
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointToPointSimilarityErrorMinimizer::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: PointToPointSimilarity.h:44
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
TransformationParameters
PM::TransformationParameters TransformationParameters
Definition: pypoint_matcher_helper.h:63
PointMatcher::ErrorMinimizer
An error minimizer will compute a transformation matrix such as to minimize the error between the rea...
Definition: PointMatcher.h:531
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
PointToPointSimilarityErrorMinimizer::ErrorMinimizer
PointMatcher< T >::ErrorMinimizer ErrorMinimizer
Definition: PointToPointSimilarity.h:51
PointMatcher.h
public interface
PointToPointSimilarityErrorMinimizer::compute
virtual TransformationParameters compute(const ErrorElements &mPts)
Find the transformation that minimizes the error given matched pair of points. This function most be ...
Definition: PointToPointSimilarity.cpp:43
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
PointToPointSimilarityErrorMinimizer::description
static const std::string description()
Definition: PointToPointSimilarity.h:53
PointToPointSimilarityErrorMinimizer::OutlierWeights
PointMatcher< T >::OutlierWeights OutlierWeights
Definition: PointToPointSimilarity.h:47
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182
PointToPointSimilarityErrorMinimizer::Matrix
PointMatcher< T >::Matrix Matrix
Definition: PointToPointSimilarity.h:50
PointToPointSimilarityErrorMinimizer::ErrorElements
PointMatcher< T >::ErrorMinimizer::ErrorElements ErrorElements
Definition: PointToPointSimilarity.h:45


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