Variables
	cloud_dimension = ref.getEuclideanDim()

string	complete_file_name = f"{output_base_directory + test_base}_{output_base_file}_complete_transfo.txt"

string	config_file = "../data/default.yaml"

	data = DP.load('../data/car_cloud401.csv')

	data_out = DP(initialized_data)

	dim = matched_points.reading.getEuclideanDim()

	dist = np.linalg.norm(matched_read - matched_ref, axis=0)

	DP = PM.DataPoints

	haussdorff_dist = max(max_dist1, max_dist2)

	haussdorff_quantile_dist = max(max_dist_robust1, max_dist_robust2)

	icp = PM.ICP()

string	icp_file_name = f"{output_base_directory + test_base}_{output_base_file}_icp.transfo.txt"

string	init_file_name = f"{output_base_directory + test_base}_{output_base_file}_init_transfo.txt"

string	init_rotation = "1,0,0;0,1,0;0,0,1" if is_3D else "1,0;0,1"

	init_transfo = np.matmul(translation, rotation)

string	init_translation = "0,0,0" if is_3D else "0,0"

	initialized_data = rigid_trans.compute(data, init_transfo)

bool	is_3D = True

bool	is_transfo_saved = False

bool	is_verbose = True

	match_ratio = icp.errorMinimizer.getWeightedPointUsedRatio()

	matched_points = PM.ErrorMinimizer.ErrorElements(data_out, ref, outlier_weights, matches)

	matched_read = matched_points.reading.features[:dim]

	matched_ref = matched_points.reference.features[:dim]

	matcher_Hausdorff = PM.get().MatcherRegistrar.create("KDTreeMatcher", params)

	matches = matcher_Hausdorff.findClosests(data_out)

	max_dist1 = matches.getDistsQuantile(1.0)

	max_dist2 = matches.getDistsQuantile(1.0)

	max_dist_robust1 = matches.getDistsQuantile(0.85)

	max_dist_robust2 = matches.getDistsQuantile(0.85)

	mean_dist = dist.sum() / nb_matched_points

	nb_matched_points = matched_points.reading.getNbPoints()

	outlier_weights = icp.outlierFilters.compute(data_out, ref, matches)

string	output_base_directory = "tests/icp_advance_api/"

string	output_base_file = "test"

	Parameters = pms.Parametrizable.Parameters

	params = Parameters()

	PM = pm.PointMatcher

	ref = DP.load('../data/car_cloud400.csv')

	rigid_trans = PM.get().TransformationRegistrar.create("RigidTransformation")

	rotation = parse_rotation(init_rotation, cloud_dimension)

	T = icp(initialized_data, ref)

string	test_base = "3D"

	translation = parse_translation(init_translation, cloud_dimension)

Variable Documentation

◆ cloud_dimension

icp_advance_api.cloud_dimension = ref.getEuclideanDim()

Definition at line 68 of file icp_advance_api.py.

◆ complete_file_name

string icp_advance_api.complete_file_name = f"{output_base_directory + test_base}_{output_base_file}_complete_transfo.txt"

Definition at line 174 of file icp_advance_api.py.

◆ config_file

string icp_advance_api.config_file = "../data/default.yaml"

Definition at line 27 of file icp_advance_api.py.

◆ data

icp_advance_api.data = DP.load('../data/car_cloud401.csv')

Definition at line 50 of file icp_advance_api.py.

◆ data_out

icp_advance_api.data_out = DP(initialized_data)

Definition at line 92 of file icp_advance_api.py.

◆ dim

icp_advance_api.dim = matched_points.reading.getEuclideanDim()

Definition at line 152 of file icp_advance_api.py.

◆ dist

icp_advance_api.dist = np.linalg.norm(matched_read - matched_ref, axis=0)

Definition at line 158 of file icp_advance_api.py.

◆ DP

icp_advance_api.DP = PM.DataPoints

Definition at line 13 of file icp_advance_api.py.

◆ haussdorff_dist

icp_advance_api.haussdorff_dist = max(max_dist1, max_dist2)

Definition at line 124 of file icp_advance_api.py.

◆ haussdorff_quantile_dist

icp_advance_api.haussdorff_quantile_dist = max(max_dist_robust1, max_dist_robust2)

Definition at line 125 of file icp_advance_api.py.

◆ icp

icp_advance_api.icp = PM.ICP()

Definition at line 59 of file icp_advance_api.py.

◆ icp_file_name

string icp_advance_api.icp_file_name = f"{output_base_directory + test_base}_{output_base_file}_icp.transfo.txt"

Definition at line 173 of file icp_advance_api.py.

◆ init_file_name

string icp_advance_api.init_file_name = f"{output_base_directory + test_base}_{output_base_file}_init_transfo.txt"

Definition at line 172 of file icp_advance_api.py.

◆ init_rotation

string icp_advance_api.init_rotation = "1,0,0;0,1,0;0,0,1" if is_3D else "1,0;0,1"

Definition at line 45 of file icp_advance_api.py.

◆ init_transfo

icp_advance_api.init_transfo = np.matmul(translation, rotation)

Definition at line 76 of file icp_advance_api.py.

◆ init_translation

string icp_advance_api.init_translation = "0,0,0" if is_3D else "0,0"

Definition at line 42 of file icp_advance_api.py.

◆ initialized_data

icp_advance_api.initialized_data = rigid_trans.compute(data, init_transfo)

Definition at line 84 of file icp_advance_api.py.

◆ is_3D

bool icp_advance_api.is_3D = True

Definition at line 38 of file icp_advance_api.py.

◆ is_transfo_saved

bool icp_advance_api.is_transfo_saved = False

Definition at line 21 of file icp_advance_api.py.

◆ is_verbose

bool icp_advance_api.is_verbose = True

Definition at line 24 of file icp_advance_api.py.

◆ match_ratio

icp_advance_api.match_ratio = icp.errorMinimizer.getWeightedPointUsedRatio()

Definition at line 88 of file icp_advance_api.py.

◆ matched_points

icp_advance_api.matched_points = PM.ErrorMinimizer.ErrorElements(data_out, ref, outlier_weights, matches)

Definition at line 149 of file icp_advance_api.py.

◆ matched_read

icp_advance_api.matched_read = matched_points.reading.features[:dim]

Definition at line 154 of file icp_advance_api.py.

◆ matched_ref

icp_advance_api.matched_ref = matched_points.reference.features[:dim]

Definition at line 155 of file icp_advance_api.py.

◆ matcher_Hausdorff

icp_advance_api.matcher_Hausdorff = PM.get().MatcherRegistrar.create("KDTreeMatcher", params)

Definition at line 110 of file icp_advance_api.py.

◆ matches

icp_advance_api.matches = matcher_Hausdorff.findClosests(data_out)

Definition at line 114 of file icp_advance_api.py.

◆ max_dist1

icp_advance_api.max_dist1 = matches.getDistsQuantile(1.0)

Definition at line 115 of file icp_advance_api.py.

◆ max_dist2

icp_advance_api.max_dist2 = matches.getDistsQuantile(1.0)

Definition at line 121 of file icp_advance_api.py.

◆ max_dist_robust1

icp_advance_api.max_dist_robust1 = matches.getDistsQuantile(0.85)

Definition at line 116 of file icp_advance_api.py.

◆ max_dist_robust2

icp_advance_api.max_dist_robust2 = matches.getDistsQuantile(0.85)

Definition at line 122 of file icp_advance_api.py.

◆ mean_dist

icp_advance_api.mean_dist = dist.sum() / nb_matched_points

Definition at line 159 of file icp_advance_api.py.

◆ nb_matched_points

icp_advance_api.nb_matched_points = matched_points.reading.getNbPoints()

Definition at line 153 of file icp_advance_api.py.

◆ outlier_weights

icp_advance_api.outlier_weights = icp.outlierFilters.compute(data_out, ref, matches)

Definition at line 146 of file icp_advance_api.py.

◆ output_base_directory

string icp_advance_api.output_base_directory = "tests/icp_advance_api/"

Definition at line 32 of file icp_advance_api.py.

◆ output_base_file

string icp_advance_api.output_base_file = "test"

Definition at line 35 of file icp_advance_api.py.

◆ Parameters

icp_advance_api.Parameters = pms.Parametrizable.Parameters

Definition at line 14 of file icp_advance_api.py.

◆ params

icp_advance_api.params = Parameters()

Definition at line 106 of file icp_advance_api.py.

◆ PM

icp_advance_api.PM = pm.PointMatcher

Definition at line 12 of file icp_advance_api.py.

◆ ref

icp_advance_api.ref = DP.load('../data/car_cloud400.csv')

Definition at line 49 of file icp_advance_api.py.

◆ rigid_trans

icp_advance_api.rigid_trans = PM.get().TransformationRegistrar.create("RigidTransformation")

Definition at line 78 of file icp_advance_api.py.

◆ rotation

icp_advance_api.rotation = parse_rotation(init_rotation, cloud_dimension)

Definition at line 74 of file icp_advance_api.py.

◆ T

icp_advance_api.T = icp(initialized_data, ref)

Definition at line 87 of file icp_advance_api.py.

◆ test_base

string icp_advance_api.test_base = "3D"

Definition at line 51 of file icp_advance_api.py.

◆ translation

icp_advance_api.translation = parse_translation(init_translation, cloud_dimension)

Definition at line 73 of file icp_advance_api.py.

Variables