PointToPoint.h
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3 /*
4 
5 Copyright (c) 2010--2012,
6 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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10 All rights reserved.
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34 */
35 
36 #ifndef LIBPOINTMATCHER_POINTTOPOINT_H
37 #define LIBPOINTMATCHER_POINTTOPOINT_H
38 
39 #include "PointMatcher.h"
40 
41 template<typename T>
43 {
47 
53  typedef typename PointMatcher<T>::Vector Vector;
54  typedef typename PointMatcher<T>::Matrix Matrix;
56 
57  inline static const std::string description()
58  {
59  return "Point-to-point error. Based on SVD decomposition. Per \\cite{Besl1992Point2Point}.";
60  }
61 
62 
65  virtual TransformationParameters compute(const ErrorElements& mPts);
67  virtual T getResidualError(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches) const;
68  virtual T getOverlap() const;
69 
70  static T computeResidualError(const ErrorElements& mPts);
71 };
72 
73 #endif //LIBPOINTMATCHER_POINTTOPOINT_H
PointToPointErrorMinimizer::Matches
PointMatcher< T >::Matches Matches
Definition: PointToPoint.h:52
PointToPointErrorMinimizer::OutlierWeights
PointMatcher< T >::OutlierWeights OutlierWeights
Definition: PointToPoint.h:51
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
PointToPointErrorMinimizer::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: PointToPoint.h:46
PointToPointErrorMinimizer::description
static const std::string description()
Definition: PointToPoint.h:57
build_map.T
T
Definition: build_map.py:34
Parameters
PM::Parameters Parameters
Definition: filterProfiler.cpp:20
PointToPointErrorMinimizer::ErrorMinimizer
PointMatcher< T >::ErrorMinimizer ErrorMinimizer
Definition: PointToPoint.h:55
PointToPointErrorMinimizer::compute
virtual TransformationParameters compute(const ErrorElements &mPts)
Find the transformation that minimizes the error given matched pair of points. This function most be ...
Definition: PointToPoint.cpp:55
PointToPointErrorMinimizer::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: PointToPoint.cpp:119
PointToPointErrorMinimizer::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: PointToPoint.cpp:104
PointToPointErrorMinimizer::Matrix
PointMatcher< T >::Matrix Matrix
Definition: PointToPoint.h:54
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
ParametersDoc
PointMatcherSupport::Parametrizable::ParametersDoc ParametersDoc
Definition: list_modules.cpp:42
PointToPointErrorMinimizer::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: PointToPoint.h:44
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointToPointErrorMinimizer::ErrorElements
PointMatcher< T >::ErrorMinimizer::ErrorElements ErrorElements
Definition: PointToPoint.h:49
PointToPointErrorMinimizer::computeResidualError
static T computeResidualError(const ErrorElements &mPts)
Definition: PointToPoint.cpp:155
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
align_sequence.params
params
Definition: align_sequence.py:13
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
PointToPointErrorMinimizer::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: PointToPoint.h:50
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
PointToPointErrorMinimizer::Vector
PointMatcher< T >::Vector Vector
Definition: PointToPoint.h:53
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointToPointErrorMinimizer::PointToPointErrorMinimizer
PointToPointErrorMinimizer()
Definition: PointToPoint.cpp:43
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
PointMatcher.h
public interface
PointToPointErrorMinimizer::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: PointToPoint.h:48
PointToPointErrorMinimizer::compute_in_place
TransformationParameters compute_in_place(ErrorElements &mPts)
Definition: PointToPoint.cpp:62
PointToPointErrorMinimizer
Definition: PointToPoint.h:42
PointMatcherSupport::Parametrizable::className
const std::string className
name of the class
Definition: Parametrizable.h:202
PointToPointErrorMinimizer::Parameters
Parametrizable::Parameters Parameters
Definition: PointToPoint.h:45
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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