#include <PointToPoint.h>

Inheritance diagram for PointToPointErrorMinimizer< 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 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...

	PointToPointErrorMinimizer ()

	PointToPointErrorMinimizer (const std::string &className, 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 T	computeResidualError (const ErrorElements &mPts)

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...

Additional Inherited Members
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...

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

Detailed Description

template<typename T>
struct PointToPointErrorMinimizer< T >

Definition at line 42 of file PointToPoint.h.

Member Typedef Documentation

◆ DataPoints

template<typename T >

typedef PointMatcher<T>::DataPoints PointToPointErrorMinimizer< T >::DataPoints

Definition at line 50 of file PointToPoint.h.

◆ ErrorElements

template<typename T >

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

Definition at line 49 of file PointToPoint.h.

◆ ErrorMinimizer

template<typename T >

typedef PointMatcher<T>::ErrorMinimizer PointToPointErrorMinimizer< T >::ErrorMinimizer

Definition at line 55 of file PointToPoint.h.

◆ Matches

template<typename T >

typedef PointMatcher<T>::Matches PointToPointErrorMinimizer< T >::Matches

Definition at line 52 of file PointToPoint.h.

◆ Matrix

template<typename T >

typedef PointMatcher<T>::Matrix PointToPointErrorMinimizer< T >::Matrix

Definition at line 54 of file PointToPoint.h.

◆ OutlierWeights

template<typename T >

typedef PointMatcher<T>::OutlierWeights PointToPointErrorMinimizer< T >::OutlierWeights

Definition at line 51 of file PointToPoint.h.

◆ Parameters

template<typename T >

typedef Parametrizable::Parameters PointToPointErrorMinimizer< T >::Parameters

Definition at line 45 of file PointToPoint.h.

◆ ParametersDoc

template<typename T >

typedef Parametrizable::ParametersDoc PointToPointErrorMinimizer< T >::ParametersDoc

Definition at line 46 of file PointToPoint.h.

◆ Parametrizable

template<typename T >

typedef PointMatcherSupport::Parametrizable PointToPointErrorMinimizer< T >::Parametrizable

Definition at line 44 of file PointToPoint.h.

◆ TransformationParameters

template<typename T >

typedef PointMatcher<T>::TransformationParameters PointToPointErrorMinimizer< T >::TransformationParameters

Definition at line 48 of file PointToPoint.h.

◆ Vector

template<typename T >

typedef PointMatcher<T>::Vector PointToPointErrorMinimizer< T >::Vector

Definition at line 53 of file PointToPoint.h.

Constructor & Destructor Documentation

◆ PointToPointErrorMinimizer() [1/2]

template<typename T >

PointToPointErrorMinimizer< T >::PointToPointErrorMinimizer

Definition at line 43 of file PointToPoint.cpp.

◆ PointToPointErrorMinimizer() [2/2]

template<typename T >

PointToPointErrorMinimizer< T >::PointToPointErrorMinimizer	(	const std::string &	className,
		const ParametersDoc	paramsDoc,
		const Parameters &	params
	)

Definition at line 49 of file PointToPoint.cpp.

Member Function Documentation

◆ compute()

template<typename T >

PointMatcher< T >::TransformationParameters PointToPointErrorMinimizer< 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 PointToPointWithCovErrorMinimizer< T >.

Definition at line 55 of file PointToPoint.cpp.

◆ compute_in_place()

template<typename T >

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

Definition at line 62 of file PointToPoint.cpp.

◆ computeResidualError()

template<typename T >

T PointToPointErrorMinimizer< T >::computeResidualError ( const ErrorElements & mPts )

static

Definition at line 155 of file PointToPoint.cpp.

◆ description()

template<typename T >

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

inlinestatic

Definition at line 57 of file PointToPoint.h.

◆ getOverlap()

template<typename T >

T PointToPointErrorMinimizer< 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 119 of file PointToPoint.cpp.

◆ getResidualError()

template<typename T >

T PointToPointErrorMinimizer< 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 104 of file PointToPoint.cpp.

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

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

template<typename T> struct PointToPointErrorMinimizer< T >

Member Typedef Documentation

◆ DataPoints

◆ ErrorElements

◆ ErrorMinimizer

◆ Matches

◆ Matrix

◆ OutlierWeights

◆ Parameters

◆ ParametersDoc

◆ Parametrizable

◆ TransformationParameters

◆ Vector

Constructor & Destructor Documentation

◆ PointToPointErrorMinimizer() [1/2]

◆ PointToPointErrorMinimizer() [2/2]

Member Function Documentation

◆ compute()

◆ compute_in_place()

◆ computeResidualError()

◆ description()

◆ getOverlap()

◆ getResidualError()

template<typename T>
struct PointToPointErrorMinimizer< T >