PointToPoint.h
Go to the documentation of this file.
1 // kate: replace-tabs off; indent-width 4; indent-mode normal
2 // vim: ts=4:sw=4:noexpandtab
3 /*
4 
5 Copyright (c) 2010--2012,
6 Fran├žois 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>
9 
10 All rights reserved.
11 
12 Redistribution and use in source and binary forms, with or without
13 modification, are permitted provided that the following conditions are met:
14  * Redistributions of source code must retain the above copyright
15  notice, this list of conditions and the following disclaimer.
16  * Redistributions in binary form must reproduce the above copyright
17  notice, this list of conditions and the following disclaimer in the
18  documentation and/or other materials provided with the distribution.
19  * Neither the name of the <organization> nor the
20  names of its contributors may be used to endorse or promote products
21  derived from this software without specific prior written permission.
22 
23 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
24 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
25 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
26 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
27 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
28 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
29 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
30 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
31 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
32 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
33 
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


libpointmatcher
Author(s):
autogenerated on Mon Jul 1 2024 02:22:43