#include <PointToPlane.h>

Inheritance diagram for PointToPlaneErrorMinimizer< T >:

[legend]

Public Types
typedef PointMatcher< T >::DataPoints	DataPoints

typedef PointMatcher< T >::ErrorMinimizer::ErrorElements	ErrorElements

typedef PointMatcher< T >::ErrorMinimizer	ErrorMinimizer

typedef PointMatcher< T >::Matches	Matches

typedef PointMatcher< T >::Matrix	Matrix

typedef PointMatcher< T >::OutlierWeights	OutlierWeights

typedef PointMatcherSupport::Parametrizable	P

typedef Parametrizable::ParameterDoc	ParameterDoc

typedef Parametrizable::Parameters	Parameters

typedef Parametrizable::ParametersDoc	ParametersDoc

typedef PointMatcherSupport::Parametrizable	Parametrizable

typedef PointMatcher< T >::TransformationParameters	TransformationParameters

typedef PointMatcher< T >::Vector	Vector

Public Types inherited from PointMatcherSupport::Parametrizable
typedef bool(*	LexicalComparison) (std::string a, std::string b)
	A function that returns whether a is smaller than b. More...

typedef std::string	Parameter
	alias More...

typedef std::map< std::string, Parameter >	Parameters
	Parameters stored as a map of string->string. More...

typedef std::vector< ParameterDoc >	ParametersDoc
	The documentation of all parameters. More...

typedef std::set< std::string >	ParametersUsed
	Parameters whose value has been read. More...

Public Member Functions
virtual TransformationParameters	compute (const ErrorElements &mPts)
	Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer. More...

TransformationParameters	compute_in_place (ErrorElements &mPts)

virtual T	getOverlap () const
	If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization. More...

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. More...

virtual const std::string	name ()

	PointToPlaneErrorMinimizer (const Parameters &params=Parameters())

	PointToPlaneErrorMinimizer (const ParametersDoc paramsDoc, const Parameters &params)

Public Member Functions inherited from PointMatcher< T >::ErrorMinimizer
virtual TransformationParameters	compute (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches)
	Find the transformation that minimizes the error. More...

	ErrorMinimizer ()
	Construct without parameter. More...

	ErrorMinimizer (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with parameters. More...

virtual Matrix	getCovariance () const
	If not redefined by child class, return zero matrix. More...

ErrorElements	getErrorElements () const
	Return the last the ErrorElements structure that was used for error minimization. More...

T	getPointUsedRatio () const
	Return the ratio of how many points were used for error minimization. More...

T	getWeightedPointUsedRatio () const
	Return the ratio of how many points were used (with weight) for error minimization. More...

virtual	~ErrorMinimizer ()
	virtual destructor More...

Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
S	get (const std::string &paramName)
	Return the value of paramName, lexically-casted to S. More...

std::string	getParamValueString (const std::string &paramName)
	Get the value of a parameter, as a string. More...

template<typename T >
std::vector< T >	getVector (const std::string &paramName)
	Return the value of paramName, lexically-casted std::vector<S> More...

	Parametrizable ()
	Construct a documentation of parameters from a description in the source. More...

	Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
	Construct with documented parameters. More...

virtual	~Parametrizable ()
	Virtual destructor, do nothing. More...

Static Public Member Functions
static const ParametersDoc	availableParameters ()

static T	computeResidualError (ErrorElements mPts, const bool &force2D)

static const std::string	description ()

Static Public Member Functions inherited from PointMatcher< T >::ErrorMinimizer
static Matrix	crossProduct (const Matrix &A, const Matrix &B)
	Helper funtion doing the cross product in 3D and a pseudo cross product in 2D. More...

Static Public Member Functions inherited from PointMatcherSupport::Parametrizable
template<typename S >
static bool	Comp (std::string a, std::string b)
	Return whether a < b, lexically casted to S. More...

Public Attributes
const bool	force2D

const bool	force4DOF

Public Attributes inherited from PointMatcherSupport::Parametrizable
const std::string	className
	name of the class More...

Parameters	parameters
	parameters with their values encoded in string More...

const ParametersDoc	parametersDoc
	documentation of parameters More...

ParametersUsed	parametersUsed
	parameters whose value has actually been read More...

Additional Inherited Members
Protected Attributes inherited from PointMatcher< T >::ErrorMinimizer
ErrorElements	lastErrorElements
	memory of the last computed error More...

Detailed Description

template<typename T>
struct PointToPlaneErrorMinimizer< T >

Definition at line 42 of file PointToPlane.h.

Member Typedef Documentation

◆ DataPoints

template<typename T >

typedef PointMatcher<T>::DataPoints PointToPlaneErrorMinimizer< T >::DataPoints

Definition at line 50 of file PointToPlane.h.

◆ ErrorElements

template<typename T >

typedef PointMatcher<T>::ErrorMinimizer::ErrorElements PointToPlaneErrorMinimizer< T >::ErrorElements

Definition at line 54 of file PointToPlane.h.

◆ ErrorMinimizer

template<typename T >

typedef PointMatcher<T>::ErrorMinimizer PointToPlaneErrorMinimizer< T >::ErrorMinimizer

Definition at line 53 of file PointToPlane.h.

◆ Matches

template<typename T >

typedef PointMatcher<T>::Matches PointToPlaneErrorMinimizer< T >::Matches

Definition at line 51 of file PointToPlane.h.

◆ Matrix

template<typename T >

typedef PointMatcher<T>::Matrix PointToPlaneErrorMinimizer< T >::Matrix

Definition at line 57 of file PointToPlane.h.

◆ OutlierWeights

template<typename T >

typedef PointMatcher<T>::OutlierWeights PointToPlaneErrorMinimizer< T >::OutlierWeights

Definition at line 52 of file PointToPlane.h.

◆ P

template<typename T >

typedef PointMatcherSupport::Parametrizable PointToPlaneErrorMinimizer< T >::P

Definition at line 45 of file PointToPlane.h.

◆ ParameterDoc

template<typename T >

typedef Parametrizable::ParameterDoc PointToPlaneErrorMinimizer< T >::ParameterDoc

Definition at line 47 of file PointToPlane.h.

◆ Parameters

template<typename T >

typedef Parametrizable::Parameters PointToPlaneErrorMinimizer< T >::Parameters

Definition at line 46 of file PointToPlane.h.

◆ ParametersDoc

template<typename T >

typedef Parametrizable::ParametersDoc PointToPlaneErrorMinimizer< T >::ParametersDoc

Definition at line 48 of file PointToPlane.h.

◆ Parametrizable

template<typename T >

typedef PointMatcherSupport::Parametrizable PointToPlaneErrorMinimizer< T >::Parametrizable

Definition at line 44 of file PointToPlane.h.

◆ TransformationParameters

template<typename T >

typedef PointMatcher<T>::TransformationParameters PointToPlaneErrorMinimizer< T >::TransformationParameters

Definition at line 55 of file PointToPlane.h.

◆ Vector

template<typename T >

typedef PointMatcher<T>::Vector PointToPlaneErrorMinimizer< T >::Vector

Definition at line 56 of file PointToPlane.h.

Constructor & Destructor Documentation

◆ PointToPlaneErrorMinimizer() [1/2]

template<typename T >

PointToPlaneErrorMinimizer< T >::PointToPlaneErrorMinimizer ( const Parameters & params = Parameters() )

Definition at line 54 of file PointToPlane.cpp.

◆ PointToPlaneErrorMinimizer() [2/2]

template<typename T >

PointToPlaneErrorMinimizer< T >::PointToPlaneErrorMinimizer	(	const ParametersDoc	paramsDoc,
		const Parameters &	params
	)

Definition at line 81 of file PointToPlane.cpp.

Member Function Documentation

◆ availableParameters()

template<typename T >

static const ParametersDoc PointToPlaneErrorMinimizer< T >::availableParameters ( )

inlinestatic

Definition at line 69 of file PointToPlane.h.

◆ compute()

template<typename T >

PointMatcher< T >::TransformationParameters PointToPlaneErrorMinimizer< T >::compute ( const ErrorElements & matchedPoints )

virtual

Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer.

Implements PointMatcher< T >::ErrorMinimizer.

Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.

Definition at line 164 of file PointToPlane.cpp.

◆ compute_in_place()

template<typename T >

PointMatcher< T >::TransformationParameters PointToPlaneErrorMinimizer< T >::compute_in_place ( ErrorElements & mPts )

Definition at line 172 of file PointToPlane.cpp.

◆ computeResidualError()

template<typename T >

T PointToPlaneErrorMinimizer< T >::computeResidualError	(	ErrorElements	mPts,
		const bool &	force2D
	)

static

Definition at line 316 of file PointToPlane.cpp.

◆ description()

template<typename T >

static const std::string PointToPlaneErrorMinimizer< T >::description ( )

inlinestatic

Definition at line 64 of file PointToPlane.h.

◆ getOverlap()

template<typename T >

T PointToPlaneErrorMinimizer< T >::getOverlap

virtual

If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization.

Reimplemented from PointMatcher< T >::ErrorMinimizer.

Definition at line 370 of file PointToPlane.cpp.

◆ getResidualError()

template<typename T >

T PointToPlaneErrorMinimizer< T >::getResidualError	(	const DataPoints &	filteredReading,
		const DataPoints &	filteredReference,
		const OutlierWeights &	outlierWeights,
		const Matches &	matches
	)		const

virtual

If not redefined by child class, return max value for T.

Reimplemented from PointMatcher< T >::ErrorMinimizer.

Definition at line 355 of file PointToPlane.cpp.

◆ name()

template<typename T >

virtual const std::string PointToPlaneErrorMinimizer< T >::name ( )

inlinevirtual

Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.

Definition at line 59 of file PointToPlane.h.

Member Data Documentation

◆ force2D

template<typename T >

const bool PointToPlaneErrorMinimizer< T >::force2D

Definition at line 78 of file PointToPlane.h.

◆ force4DOF

template<typename T >

const bool PointToPlaneErrorMinimizer< T >::force4DOF

Definition at line 79 of file PointToPlane.h.

The documentation for this struct was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

template<typename T> struct PointToPlaneErrorMinimizer< T >

Member Typedef Documentation

◆ DataPoints

◆ ErrorElements

◆ ErrorMinimizer

◆ Matches

◆ Matrix

◆ OutlierWeights

◆ P

◆ ParameterDoc

◆ Parameters

◆ ParametersDoc

◆ Parametrizable

◆ TransformationParameters

◆ Vector

Constructor & Destructor Documentation

◆ PointToPlaneErrorMinimizer() [1/2]

◆ PointToPlaneErrorMinimizer() [2/2]

Member Function Documentation

◆ availableParameters()

◆ compute()

◆ compute_in_place()

◆ computeResidualError()

◆ description()

◆ getOverlap()

◆ getResidualError()

◆ name()

Member Data Documentation

◆ force2D

◆ force4DOF

template<typename T>
struct PointToPlaneErrorMinimizer< T >