PointMatcher.h
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3 /*
4 
5 Copyright (c) 2010--2012,
6 Francois 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.
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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
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25 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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32 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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34 */
35 
36 #ifndef __POINTMATCHER_CORE_H
37 #define __POINTMATCHER_CORE_H
38 
39 #ifndef EIGEN_USE_NEW_STDVECTOR
40 #define EIGEN_USE_NEW_STDVECTOR
41 #endif // EIGEN_USE_NEW_STDVECTOR
42 //#define EIGEN2_SUPPORT
43 
44 //TODO: investigate if that causes more problems down the road
45 #define EIGEN_NO_DEBUG
46 
47 #include "Eigen/StdVector"
48 #include "Eigen/Core"
49 #include "Eigen/Geometry"
50 
51 
52 #include <boost/thread/mutex.hpp>
53 
54 #include <stdexcept>
55 #include <limits>
56 #include <iostream>
57 #include <ostream>
58 #include <memory>
59 //#include <cstdint>
60 #include <boost/cstdint.hpp>
61 
62 #include "DeprecationWarnings.h"
63 #include "Parametrizable.h"
64 #include "Registrar.h"
65 
72 #define POINTMATCHER_VERSION "1.3.1"
74 #define POINTMATCHER_VERSION_INT 10301
76 
78 namespace PointMatcherSupport
79 {
80  // TODO: gather all exceptions
81 
83  struct InvalidModuleType: std::runtime_error
84  {
85  InvalidModuleType(const std::string& reason);
86  };
87 
89  struct TransformationError: std::runtime_error
90  {
92  TransformationError(const std::string& reason);
93  };
94 
96  struct ConfigurationError: std::runtime_error
97  {
99  ConfigurationError(const std::string& reason);
100  };
101 
102 
104  struct Logger: public Parametrizable
105  {
106  Logger();
107  Logger(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
108 
109  virtual ~Logger();
110  virtual bool hasInfoChannel() const;
111  virtual void beginInfoEntry(const char *file, unsigned line, const char *func);
112  virtual std::ostream* infoStream();
113  virtual void finishInfoEntry(const char *file, unsigned line, const char *func);
114  virtual bool hasWarningChannel() const;
115  virtual void beginWarningEntry(const char *file, unsigned line, const char *func);
116  virtual std::ostream* warningStream();
117  virtual void finishWarningEntry(const char *file, unsigned line, const char *func);
118  };
119 
120  void setLogger(std::shared_ptr<Logger> newLogger);
121 
122  void validateFile(const std::string& fileName);
123 
125  typedef std::map<std::string, std::vector<std::string> > CsvElements;
126 }
127 
129 template<typename T>
131 {
132  // ---------------------------------
133  // macros for constants
134  // ---------------------------------
135 
137  #define ZERO_PLUS_EPS (0. + std::numeric_limits<double>::epsilon())
138  #define ONE_MINUS_EPS (1. - std::numeric_limits<double>::epsilon())
140 
141  // ---------------------------------
142  // exceptions
143  // ---------------------------------
144 
145  //TODO: gather exceptions here and in Exceptions.cpp
146 
148  struct ConvergenceError: std::runtime_error
149  {
150  ConvergenceError(const std::string& reason);
151  };
152 
153 
154  // ---------------------------------
155  // eigen and nabo-based types
156  // ---------------------------------
157 
159  typedef T ScalarType;
161  typedef typename Eigen::Matrix<T, Eigen::Dynamic, 1> Vector;
163  typedef std::vector<Vector, Eigen::aligned_allocator<Vector> > VectorVector;
165  typedef typename Eigen::Quaternion<T> Quaternion;
167  typedef std::vector<Quaternion, Eigen::aligned_allocator<Quaternion> > QuaternionVector;
169  typedef typename Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> Matrix;
171  typedef typename Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic> IntMatrix;
173  typedef typename Eigen::Matrix<std::int64_t, Eigen::Dynamic, Eigen::Dynamic> Int64Matrix;
175  typedef typename Eigen::Array<T, Eigen::Dynamic, Eigen::Dynamic> Array;
176 
177 
179 
183 
184  // alias for scope reasons
190 
191  // ---------------------------------
192  // input types
193  // ---------------------------------
194 
196 
207  struct DataPoints
208  {
210  typedef Eigen::Block<Matrix> View;
212  typedef Eigen::Block<Int64Matrix> TimeView;
214  typedef const Eigen::Block<const Matrix> ConstView;
216  typedef const Eigen::Block<const Int64Matrix> TimeConstView;
218  typedef typename Matrix::Index Index;
219 
221  struct Label
222  {
224  size_t span;
225  Label(const std::string& text = "", const size_t span = 0);
226  bool operator ==(const Label& that) const;
227  };
229  struct Labels: std::vector<Label>
230  {
231  typedef typename std::vector<Label>::const_iterator const_iterator;
232  Labels();
233  Labels(const Label& label);
234  bool contains(const std::string& text) const;
235  size_t totalDim() const;
236  friend std::ostream& operator<< (std::ostream& stream, const Labels& labels)
237  {
238  for(size_t i=0; i<labels.size(); i++)
239  {
240  stream << labels[i].text;
241  if(i != (labels.size() -1))
242  stream << ", ";
243  }
244 
245  return stream;
246  };
247  };
248 
250  struct InvalidField: std::runtime_error
251  {
252  InvalidField(const std::string& reason);
253  };
254 
255  // Constructors from descriptions (reserve memory)
256  DataPoints();
257  DataPoints(const Labels& featureLabels, const Labels& descriptorLabels, const size_t pointCount);
258  DataPoints(const Labels& featureLabels, const Labels& descriptorLabels, const Labels& timeLabels, const size_t pointCount);
259 
260  // Copy constructors from partial data
264 
265  bool operator ==(const DataPoints& that) const;
266 
267  unsigned getNbPoints() const;
268  unsigned getEuclideanDim() const;
269  unsigned getHomogeneousDim() const;
270  unsigned getNbGroupedDescriptors() const;
271  unsigned getDescriptorDim() const;
272  unsigned getTimeDim() const;
273 
274  void save(const std::string& fileName, bool binary = false) const;
275  static DataPoints load(const std::string& fileName);
276 
277  void concatenate(const DataPoints& dp);
278  void conservativeResize(Index pointCount);
280  DataPoints createSimilarEmpty(Index pointCount) const;
281  void setColFrom(Index thisCol, const DataPoints& that, Index thatCol);
282  void swapCols(Index iCol,Index jCol);
283 
284  // methods related to features
285  void allocateFeature(const std::string& name, const unsigned dim);
286  void allocateFeatures(const Labels& newLabels);
287  void addFeature(const std::string& name, const Matrix& newFeature);
288  void removeFeature(const std::string& name);
289  Matrix getFeatureCopyByName(const std::string& name) const;
290  ConstView getFeatureViewByName(const std::string& name) const;
292  ConstView getFeatureRowViewByName(const std::string& name, const unsigned row) const;
293  View getFeatureRowViewByName(const std::string& name, const unsigned row);
294  bool featureExists(const std::string& name) const;
295  bool featureExists(const std::string& name, const unsigned dim) const;
296  unsigned getFeatureDimension(const std::string& name) const;
297  unsigned getFeatureStartingRow(const std::string& name) const;
298 
299  // methods related to descriptors
300  void allocateDescriptor(const std::string& name, const unsigned dim);
301  void allocateDescriptors(const Labels& newLabels);
302  void addDescriptor(const std::string& name, const Matrix& newDescriptor);
303  void removeDescriptor(const std::string& name);
304  Matrix getDescriptorCopyByName(const std::string& name) const;
305  ConstView getDescriptorViewByName(const std::string& name) const;
307  ConstView getDescriptorRowViewByName(const std::string& name, const unsigned row) const;
308  View getDescriptorRowViewByName(const std::string& name, const unsigned row);
309  bool descriptorExists(const std::string& name) const;
310  bool descriptorExists(const std::string& name, const unsigned dim) const;
311  unsigned getDescriptorDimension(const std::string& name) const;
312  unsigned getDescriptorStartingRow(const std::string& name) const;
313  void assertDescriptorConsistency() const;
314 
315  // methods related to times
316  void allocateTime(const std::string& name, const unsigned dim);
317  void allocateTimes(const Labels& newLabels);
318  void addTime(const std::string& name, const Int64Matrix& newTime);
319  void removeTime(const std::string& name);
320  Int64Matrix getTimeCopyByName(const std::string& name) const;
321  TimeConstView getTimeViewByName(const std::string& name) const;
323  TimeConstView getTimeRowViewByName(const std::string& name, const unsigned row) const;
324  TimeView getTimeRowViewByName(const std::string& name, const unsigned row);
325  bool timeExists(const std::string& name) const;
326  bool timeExists(const std::string& name, const unsigned dim) const;
327  unsigned getTimeDimension(const std::string& name) const;
328  unsigned getTimeStartingRow(const std::string& name) const;
329  void assertTimesConsistency() const;
330 
337 
338  private:
339  void assertConsistency(const std::string& dataName, const int dataRows, const int dataCols, const Labels& labels) const;
340  template<typename MatrixType>
341  void allocateFields(const Labels& newLabels, Labels& labels, MatrixType& data) const;
342  template<typename MatrixType>
343  void allocateField(const std::string& name, const unsigned dim, Labels& labels, MatrixType& data) const;
344  template<typename MatrixType>
345  void addField(const std::string& name, const MatrixType& newField, Labels& labels, MatrixType& data) const;
346  template<typename MatrixType>
347  void removeField(const std::string& name, Labels& labels, MatrixType& data) const;
348  template<typename MatrixType>
349  const Eigen::Block<const MatrixType> getConstViewByName(const std::string& name, const Labels& labels, const MatrixType& data, const int viewRow = -1) const;
350  template<typename MatrixType>
351  Eigen::Block<MatrixType> getViewByName(const std::string& name, const Labels& labels, MatrixType& data, const int viewRow = -1) const;
352  bool fieldExists(const std::string& name, const unsigned dim, const Labels& labels) const;
353  unsigned getFieldDimension(const std::string& name, const Labels& labels) const;
354  unsigned getFieldStartingRow(const std::string& name, const Labels& labels) const;
355 
356  template<typename MatrixType>
357  void concatenateLabelledMatrix(Labels* labels, MatrixType* data, const Labels extraLabels, const MatrixType extraData);
358  };
359 
360  static void swapDataPoints(DataPoints& a, DataPoints& b);
361 
362  // ---------------------------------
363  // intermediate types
364  // ---------------------------------
365 
367 
371  struct Matches
372  {
373  typedef Matrix Dists;
374  typedef IntMatrix Ids;
375 
376 
377  static constexpr int InvalidId = -1;
378  static constexpr T InvalidDist = std::numeric_limits<T>::infinity();
379 
380  Matches();
381  Matches(const Dists& dists, const Ids ids);
382  Matches(const int knn, const int pointsCount);
383 
386 
387  T getDistsQuantile(const T quantile) const;
388  T getMedianAbsDeviation() const;
389  T getStandardDeviation() const;
390 
391  };
392 
394 
398 
399  // ---------------------------------
400  // types of processing bricks
401  // ---------------------------------
402 
405  {
406  Transformation();
407  Transformation(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
408  virtual ~Transformation();
409 
411  virtual DataPoints compute(const DataPoints& input, const TransformationParameters& parameters) const = 0;
412 
414  virtual bool checkParameters(const TransformationParameters& parameters) const = 0;
415 
418 
419  };
420 
422  struct Transformations: public std::vector<std::shared_ptr<Transformation> >
423  {
424  void apply(DataPoints& cloud, const TransformationParameters& parameters) const;
425  };
426  typedef typename Transformations::iterator TransformationsIt;
427  typedef typename Transformations::const_iterator TransformationsConstIt;
428 
429  DEF_REGISTRAR(Transformation)
430 
431  // ---------------------------------
432 
433 
434 
438  {
440  DataPointsFilter(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
441  virtual ~DataPointsFilter();
442  virtual void init();
443 
445  virtual DataPoints filter(const DataPoints& input) = 0;
446 
448  virtual void inPlaceFilter(DataPoints& cloud) = 0;
449  };
450 
452  struct DataPointsFilters: public std::vector<std::shared_ptr<DataPointsFilter> >
453  {
455  DataPointsFilters(std::istream& in);
456  void init();
457  void apply(DataPoints& cloud);
458  };
459  typedef typename DataPointsFilters::iterator DataPointsFiltersIt;
460  typedef typename DataPointsFilters::const_iterator DataPointsFiltersConstIt;
461 
462  DEF_REGISTRAR(DataPointsFilter)
463 
464  // ---------------------------------
465 
466 
467 
470  struct Matcher: public Parametrizable
471  {
472  unsigned long visitCounter;
473 
474  Matcher();
475  Matcher(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
476  virtual ~Matcher();
477 
478  void resetVisitCount();
479  unsigned long getVisitCount() const;
480 
482  virtual void init(const DataPoints& filteredReference) = 0;
484  virtual Matches findClosests(const DataPoints& filteredReading) = 0;
485  };
486 
488 
489  // ---------------------------------
490 
491 
492 
497  {
498  OutlierFilter();
499  OutlierFilter(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
500 
501  virtual ~OutlierFilter();
502 
504  virtual OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input) = 0;
505  };
506 
507 
509  struct OutlierFilters: public std::vector<std::shared_ptr<OutlierFilter> >
510  {
511 
512  OutlierWeights compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const Matches& input);
513 
514  };
515 
516  typedef typename OutlierFilters::const_iterator OutlierFiltersConstIt;
517  typedef typename OutlierFilters::iterator OutlierFiltersIt;
518 
519  DEF_REGISTRAR(OutlierFilter)
520 
521  // ---------------------------------
522 
523 
524 
528  {
531  {
540 
541  ErrorElements();
542  ErrorElements(const DataPoints& requestedPts, const DataPoints& sourcePts, const OutlierWeights& outlierWeights, const Matches& matches);
543  };
544 
545  ErrorMinimizer();
546  ErrorMinimizer(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
547  virtual ~ErrorMinimizer();
548 
549  T getPointUsedRatio() const;
550  T getWeightedPointUsedRatio() const;
551  ErrorElements getErrorElements() const; //TODO: ensure that is return a usable value
552  virtual T getOverlap() const;
553  virtual Matrix getCovariance() const;
554  virtual T getResidualError(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches) const;
555 
557  virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
559  virtual TransformationParameters compute(const ErrorElements& matchedPoints) = 0;
560 
561  // helper functions
562  static Matrix crossProduct(const Matrix& A, const Matrix& B);//TODO: this might go in pointmatcher_support namespace
563 
564  protected:
565  //T pointUsedRatio; //!< the ratio of how many points were used for error minimization
566  //T weightedPointUsedRatio; //!< the ratio of how many points were used (with weight) for error minimization
567  //TODO: standardize the use of this variable
569  };
570 
572 
573  // ---------------------------------
574 
575 
576 
581  {
582  protected:
583  typedef std::vector<std::string> StringVector;
588 
589  public:
591  TransformationChecker(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
592  virtual ~TransformationChecker();
594  virtual void init(const TransformationParameters& parameters, bool& iterate) = 0;
596  virtual void check(const TransformationParameters& parameters, bool& iterate) = 0;
597 
598  const Vector& getLimits() const;
599  const Vector& getConditionVariables() const;
600  const StringVector& getLimitNames() const;
601  const StringVector& getConditionVariableNames() const;
602 
603  protected:
604  static Vector matrixToAngles(const TransformationParameters& parameters);
605  };
606 
608  struct TransformationCheckers: public std::vector<std::shared_ptr<TransformationChecker> >
609  {
610  void init(const TransformationParameters& parameters, bool& iterate);
611  void check(const TransformationParameters& parameters, bool& iterate);
612  };
613  typedef typename TransformationCheckers::iterator TransformationCheckersIt;
614  typedef typename TransformationCheckers::const_iterator TransformationCheckersConstIt;
615 
616  DEF_REGISTRAR(TransformationChecker)
617 
618  // ---------------------------------
619 
620 
621  struct Inspector: public Parametrizable
622  {
623 
624  Inspector();
625  Inspector(const std::string& className, const ParametersDoc paramsDoc, const Parameters& params);
626 
627  //
628  virtual ~Inspector();
629  virtual void init();
630 
631  // performance statistics
632  virtual void addStat(const std::string& name, double data);
633  virtual void dumpStats(std::ostream& stream);
634  virtual void dumpStatsHeader(std::ostream& stream);
635 
636  // data statistics
637  virtual void dumpIteration(const size_t iterationNumber, const TransformationParameters& parameters, const DataPoints& filteredReference, const DataPoints& reading, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationCheckers& transformationCheckers);
638  virtual void finish(const size_t iterationCount);
639  };
640 
642 
643  // ---------------------------------
644 
646 
647  // ---------------------------------
648 
649  // algorithms
650 
651 
653  {
654  public:
659  std::shared_ptr<Matcher> matcher;
661  std::shared_ptr<ErrorMinimizer> errorMinimizer;
663  std::shared_ptr<Inspector> inspector;
664 
665  virtual ~ICPChainBase();
666 
667  virtual void setDefault();
668 
669  virtual void loadFromYaml(std::istream& in);
670  unsigned getPrefilteredReadingPtsCount() const;
671  unsigned getPrefilteredReferencePtsCount() const;
672 
673  bool getMaxNumIterationsReached() const;
674 
675  protected:
679 
680  ICPChainBase();
681 
682  void cleanup();
683 
684  virtual void loadAdditionalYAMLContent(PointMatcherSupport::YAML::Node& doc);
685 
687  template<typename R>
688  const std::string& createModulesFromRegistrar(const std::string& regName, const PointMatcherSupport::YAML::Node& doc, const R& registrar, std::vector<std::shared_ptr<typename R::TargetType> >& modules);
689 
691  template<typename R>
692  const std::string& createModuleFromRegistrar(const std::string& regName, const PointMatcherSupport::YAML::Node& doc, const R& registrar, std::shared_ptr<typename R::TargetType>& module);
693 
695  std::string nodeVal(const std::string& regName, const PointMatcherSupport::YAML::Node& doc);
696  };
697 
700  {
702  const DataPoints& readingIn,
703  const DataPoints& referenceIn);
704 
706  const DataPoints& readingIn,
707  const DataPoints& referenceIn,
708  const TransformationParameters& initialTransformationParameters);
709 
711  const DataPoints& readingIn,
712  const DataPoints& referenceIn,
713  const TransformationParameters& initialTransformationParameters);
714 
716  const DataPoints& getReadingFiltered() const { return readingFiltered; }
717 
718  protected:
720  const DataPoints& readingIn,
721  const DataPoints& reference,
722  const TransformationParameters& T_refIn_refMean,
723  const TransformationParameters& initialTransformationParameters);
724 
726  };
727 
730  struct ICPSequence: public ICP
731  {
733  const DataPoints& cloudIn);
735  const DataPoints& cloudIn,
736  const TransformationParameters& initialTransformationParameters);
738  const DataPoints& cloudIn,
739  const TransformationParameters& initialTransformationParameters);
740 
741  bool hasMap() const;
742  bool setMap(const DataPoints& map);
743  void clearMap();
744  virtual void setDefault();
745  virtual void loadFromYaml(std::istream& in);
746  PM_DEPRECATED("Use getPrefilteredInternalMap instead. "
747  "Function now always returns map with filter chain applied. "
748  "This may have altered your program behavior."
749  "Reasons for this stated here and in associated PR: "
750  "https://github.com/ethz-asl/libpointmatcher/issues/209.")
751  const DataPoints& getInternalMap() const;
752  const DataPoints& getPrefilteredInternalMap() const;
753  PM_DEPRECATED("Use getPrefilteredMap instead. "
754  "Function now always returns map with filter chain applied. "
755  "This may have altered your program behavior."
756  "Reasons for this stated here and in associated PR: "
757  "https://github.com/ethz-asl/libpointmatcher/issues/209")
758  const DataPoints getMap() const;
759  const DataPoints getPrefilteredMap() const;
760 
761  protected:
764  };
765 
766  // ---------------------------------
767  // Instance-related functions
768  // ---------------------------------
769 
770  PointMatcher();
771 
772  static const PointMatcher& get();
773 
774 
775 }; // PointMatcher<T>
776 
777 #endif // __POINTMATCHER_CORE_H
778 
PointMatcher::ICPSequence
Definition: PointMatcher.h:730
PointMatcher::ICPSequence::setDefault
virtual void setDefault()
Construct an ICP algorithm that works in most of the cases.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:520
check
ROSCPP_DECL bool check()
PointMatcher::ICPSequence::clearMap
void clearMap()
Clear the map (reset to same state as after the object is created)
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:512
PointMatcher::ICPSequence::hasMap
bool hasMap() const
Return whether the object currently holds a valid map.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:457
PointMatcher::DataPoints::timeExists
bool timeExists(const std::string &name) const
Look if a time with a given name exist.
Definition: pointmatcher/DataPoints.cpp:687
PointMatcher::ErrorMinimizer::ErrorElements::nbRejectedPoints
int nbRejectedPoints
number of points with all matches set to zero weights
Definition: PointMatcher.h:537
PointMatcher::DataPointsFilters::DataPointsFilters
DataPointsFilters()
Construct an empty chain.
Definition: DataPointsFilter.cpp:73
PointMatcher::DataPoints::getNbGroupedDescriptors
unsigned getNbGroupedDescriptors() const
Return the number of grouped descriptors (e.g., normals can have 3 components but would count as only...
Definition: pointmatcher/DataPoints.cpp:179
PointMatcher::OutlierFilters
A chain of OutlierFilter.
Definition: PointMatcher.h:509
PointMatcher::Parameters
Parametrizable::Parameters Parameters
alias
Definition: PointMatcher.h:186
PointMatcher::DataPointsFiltersIt
DataPointsFilters::iterator DataPointsFiltersIt
alias
Definition: PointMatcher.h:459
PointMatcher::Matches::Dists
Matrix Dists
Squared distances to closest points, dense matrix of ScalarType.
Definition: PointMatcher.h:373
PointMatcher::DataPoints::Label::operator==
bool operator==(const Label &that) const
Return whether two labels are equals.
Definition: pointmatcher/DataPoints.cpp:57
PointMatcher::Matches::dists
Dists dists
squared distances to closest points
Definition: PointMatcher.h:384
PointMatcher::DataPoints::descriptorLabels
Labels descriptorLabels
labels of descriptors
Definition: PointMatcher.h:334
PointMatcher::ICPSequence::compute
TransformationParameters compute(const DataPoints &cloudIn, const TransformationParameters &initialTransformationParameters)
Apply ICP to cloud cloudIn, with initial guess.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:595
PointMatcher::DataPoints::swapCols
void swapCols(Index iCol, Index jCol)
Swap column i and j in the point cloud, swap also features and descriptors if any....
Definition: pointmatcher/DataPoints.cpp:405
PointMatcherSupport::Logger::finishInfoEntry
virtual void finishInfoEntry(const char *file, unsigned line, const char *func)
Finish the entry into the info channel.
Definition: Logger.cpp:74
PointMatcher::DataPoints::Label::text
std::string text
name of the label
Definition: PointMatcher.h:223
PointMatcherSupport::validateFile
void validateFile(const std::string &fileName)
Throw a runtime_error exception if fileName cannot be opened.
Definition: pointmatcher/IO.cpp:355
PointMatcher::OutlierFiltersConstIt
OutlierFilters::const_iterator OutlierFiltersConstIt
alias
Definition: PointMatcher.h:516
PointMatcher::VectorVector
std::vector< Vector, Eigen::aligned_allocator< Vector > > VectorVector
A vector of vector over ScalarType, not a matrix.
Definition: PointMatcher.h:163
PointMatcher::DataPoints::getEuclideanDim
unsigned getEuclideanDim() const
Return the dimension of the point cloud.
Definition: pointmatcher/DataPoints.cpp:165
PointMatcher::Matches::getMedianAbsDeviation
T getMedianAbsDeviation() const
Calculate the Median of Absolute Deviation(MAD), which is median(|x-median(x)|), a kind of robust sta...
Definition: Matches.cpp:91
PointMatcher::DataPointsFilters::init
void init()
Init the chain.
Definition: DataPointsFilter.cpp:97
PointMatcher::Matches::ids
Ids ids
identifiers of closest points
Definition: PointMatcher.h:385
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
PointMatcherSupport::Logger::beginInfoEntry
virtual void beginInfoEntry(const char *file, unsigned line, const char *func)
Start a new entry into the info channel.
Definition: Logger.cpp:64
PointMatcher::DataPoints::addTime
void addTime(const std::string &name, const Int64Matrix &newTime)
Add a time by name, remove first if already exists.
Definition: pointmatcher/DataPoints.cpp:636
PointMatcher::Transformations
A chain of Transformation.
Definition: PointMatcher.h:422
PointMatcher::DataPoints::assertDescriptorConsistency
void assertDescriptorConsistency() const
Assert if descriptors are not consistent with features.
Definition: pointmatcher/DataPoints.cpp:610
PointMatcher::ICPChainBase::transformationCheckers
TransformationCheckers transformationCheckers
transformation checkers
Definition: PointMatcher.h:662
PointMatcher::ErrorMinimizer::ErrorElements::pointUsedRatio
T pointUsedRatio
the ratio of how many points were used for error minimization
Definition: PointMatcher.h:538
PointMatcher::DataPoints::Labels
A vector of Label.
Definition: PointMatcher.h:229
PointMatcher::ICP::compute
TransformationParameters compute(const DataPoints &readingIn, const DataPoints &referenceIn, const TransformationParameters &initialTransformationParameters)
Perform ICP from initial guess and return optimised transformation matrix.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:265
PointMatcher::DataPoints::removeFeature
void removeFeature(const std::string &name)
Remove a feature by name, the whole matrix will be copied.
Definition: pointmatcher/DataPoints.cpp:444
PointMatcher::DataPoints::concatenate
void concatenate(const DataPoints &dp)
Add another point cloud after the current one. Faster merge will be achieved if all descriptor and ti...
Definition: pointmatcher/DataPoints.cpp:225
PointMatcher::DataPoints::addFeature
void addFeature(const std::string &name, const Matrix &newFeature)
Add a feature by name, remove first if already exists. The 'pad' field will stay at the end for homog...
Definition: pointmatcher/DataPoints.cpp:435
PointMatcherSupport::CsvElements
std::map< std::string, std::vector< std::string > > CsvElements
Data from a CSV file.
Definition: PointMatcher.h:125
PointMatcherSupport::Logger::infoStream
virtual std::ostream * infoStream()
Return the info stream, 0 if hasInfoChannel() returns false.
Definition: Logger.cpp:68
PointMatcher::DataPoints::allocateDescriptor
void allocateDescriptor(const std::string &name, const unsigned dim)
Makes sure a descriptor of a given name exists, if present, check its dimensions.
Definition: pointmatcher/DataPoints.cpp:518
Index
NNSNabo::Index Index
Definition: python/nabo.cpp:11
PointMatcher::DataPoints::descriptorExists
bool descriptorExists(const std::string &name) const
Look if a descriptor with a given name exist.
Definition: pointmatcher/DataPoints.cpp:582
PointMatcher::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
alias
Definition: PointMatcher.h:185
PointMatcher::TransformationCheckersIt
TransformationCheckers::iterator TransformationCheckersIt
alias
Definition: PointMatcher.h:613
PointMatcher::DataPoints::getViewByName
Eigen::Block< MatrixType > getViewByName(const std::string &name, const Labels &labels, MatrixType &data, const int viewRow=-1) const
Definition: pointmatcher/DataPoints.cpp:948
PointMatcher::ScalarType
T ScalarType
The scalar type.
Definition: PointMatcher.h:159
PointMatcher::DataPoints::addDescriptor
void addDescriptor(const std::string &name, const Matrix &newDescriptor)
Add a descriptor by name, remove first if already exists.
Definition: pointmatcher/DataPoints.cpp:532
PointMatcher::DataPoints::getConstViewByName
const Eigen::Block< const MatrixType > getConstViewByName(const std::string &name, const Labels &labels, const MatrixType &data, const int viewRow=-1) const
Definition: pointmatcher/DataPoints.cpp:921
PointMatcherSupport::ConfigurationError
An expception thrown when the yaml config file contains invalid configuration (e.g....
Definition: PointMatcher.h:96
PointMatcher::DataPoints::allocateFields
void allocateFields(const Labels &newLabels, Labels &labels, MatrixType &data) const
Make sure a vector of fields of given names exist.
Definition: pointmatcher/DataPoints.cpp:785
PointMatcher::ICPSequence::setMap
bool setMap(const DataPoints &map)
Set the map using inputCloud.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:464
PointMatcher::OutlierFilter
An outlier filter removes or weights links between points in reading and their matched points in refe...
Definition: PointMatcher.h:496
PointMatcher::Array
Eigen::Array< T, Eigen::Dynamic, Eigen::Dynamic > Array
A dense array over ScalarType.
Definition: PointMatcher.h:175
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcher::ICPChainBase::referenceDataPointsFilters
DataPointsFilters referenceDataPointsFilters
filters for reference
Definition: PointMatcher.h:657
PointMatcher::ConvergenceError
Point matcher did not converge.
Definition: PointMatcher.h:148
PointMatcherSupport::setLogger
void setLogger(std::shared_ptr< Logger > newLogger)
Set a new logger, protected by a mutex.
Definition: Logger.cpp:98
PointMatcher::DataPointsFilters
A chain of DataPointsFilter.
Definition: PointMatcher.h:452
PointMatcher::TransformationCheckersConstIt
TransformationCheckers::const_iterator TransformationCheckersConstIt
alias
Definition: PointMatcher.h:614
PointMatcherSupport::TransformationError::TransformationError
TransformationError(const std::string &reason)
return an exception when a transformation has invalid parameters
Definition: TransformationsImpl.cpp:44
PointMatcherSupport::Logger
The logger interface, used to output warnings and informations.
Definition: PointMatcher.h:104
PointMatcherSupport::Logger::hasWarningChannel
virtual bool hasWarningChannel() const
Return whether this logger provides the warning channel.
Definition: Logger.cpp:78
PointMatcher::ICPChainBase::maxNumIterationsReached
bool maxNumIterationsReached
store if we reached the maximum number of iterations last time compute was called
Definition: PointMatcher.h:678
PointMatcher::ICPChainBase
Stuff common to all ICP algorithms.
Definition: PointMatcher.h:652
PointMatcher::DataPoints::getDescriptorCopyByName
Matrix getDescriptorCopyByName(const std::string &name) const
Get descriptor by name, return a matrix containing a copy of the requested descriptor.
Definition: pointmatcher/DataPoints.cpp:547
PointMatcher::DataPoints::getTimeDim
unsigned getTimeDim() const
Return the total number of times.
Definition: pointmatcher/DataPoints.cpp:193
PointMatcher::DataPoints::getTimeCopyByName
Int64Matrix getTimeCopyByName(const std::string &name) const
Get time by name, return a matrix containing a copy of the requested time.
Definition: pointmatcher/DataPoints.cpp:650
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
PointMatcher::DataPoints::allocateFeatures
void allocateFeatures(const Labels &newLabels)
Make sure a vector of features of given names exist.
Definition: pointmatcher/DataPoints.cpp:428
Parametrizable.h
PointMatcher::ICPSequence::mapPointCloud
DataPoints mapPointCloud
point cloud of the map, always in global frame (frame of first point cloud)
Definition: PointMatcher.h:762
PointMatcher::DataPoints::getDescriptorStartingRow
unsigned getDescriptorStartingRow(const std::string &name) const
Return the starting row of a descriptor with a given name. Return 0 if the name is not found.
Definition: pointmatcher/DataPoints.cpp:603
PointMatcher::QuaternionVector
std::vector< Quaternion, Eigen::aligned_allocator< Quaternion > > QuaternionVector
A vector of quaternions over ScalarType.
Definition: PointMatcher.h:167
PointMatcher::DataPoints::getHomogeneousDim
unsigned getHomogeneousDim() const
Return the dimension of the point cloud in homogeneous coordinates (one more than Euclidean dimension...
Definition: pointmatcher/DataPoints.cpp:172
PointMatcher::Matcher
A matcher links points in the reading to points in the reference.
Definition: PointMatcher.h:470
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcher::DataPoints::timeLabels
Labels timeLabels
labels of times.
Definition: PointMatcher.h:336
PointMatcher::ICPSequence::PM_DEPRECATED
PM_DEPRECATED("Use getPrefilteredInternalMap instead. " "Function now always returns map with filter chain applied. " "This may have altered your program behavior." "Reasons for this stated here and in associated PR: " "https://github.com/ethz-asl/libpointmatcher/issues/209.") const DataPoints &getInternalMap() const
PointMatcher::ICPSequence::operator()
TransformationParameters operator()(const DataPoints &cloudIn)
Apply ICP to cloud cloudIn, with identity as initial guess.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:577
PointMatcher::DataPoints::Labels::operator<<
friend std::ostream & operator<<(std::ostream &stream, const Labels &labels)
Definition: PointMatcher.h:236
PointMatcher::Transformation::checkParameters
virtual bool checkParameters(const TransformationParameters &parameters) const =0
Return whether the given parameters respect the expected constraints.
PointMatcher::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
alias
Definition: PointMatcher.h:188
PointMatcher::DataPoints::operator==
bool operator==(const DataPoints &that) const
Return whether two point-clouds are identical (same data and same labels)
Definition: pointmatcher/DataPoints.cpp:200
PointMatcherSupport::InvalidModuleType
An exception thrown when one tries to use a module type that does not exist.
Definition: PointMatcher.h:83
PointMatcher::TransformationChecker::limits
Vector limits
values of limits involved in conditions to stop ICP loop
Definition: PointMatcher.h:584
PointMatcher::DataPoints::getTimeDimension
unsigned getTimeDimension(const std::string &name) const
Return the dimension of a time with a given name. Return 0 if the name is not found.
Definition: pointmatcher/DataPoints.cpp:701
PointMatcher::DataPoints::getFeatureDimension
unsigned getFeatureDimension(const std::string &name) const
Return the dimension of a feature with a given name. Return 0 if the name is not found.
Definition: pointmatcher/DataPoints.cpp:500
DEF_REGISTRAR_IFACE
#define DEF_REGISTRAR_IFACE(name, ifaceName)
Definition: Registrar.h:222
DEF_REGISTRAR
#define DEF_REGISTRAR(name)
Definition: Registrar.h:221
PointMatcher::DataPoints::TimeConstView
const typedef Eigen::Block< const Int64Matrix > TimeConstView
a view on a const time
Definition: PointMatcher.h:216
PointMatcher::Transformation
A function that transforms points and their descriptors given a transformation matrix.
Definition: PointMatcher.h:404
PointMatcher::DataPoints::InvalidField
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
PointMatcher::DataPoints::getFeatureViewByName
ConstView getFeatureViewByName(const std::string &name) const
Get a const view on a feature by name, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:458
PointMatcher::OutlierFilters::compute
OutlierWeights compute(const DataPoints &filteredReading, const DataPoints &filteredReference, const Matches &input)
Apply outlier-detection chain.
Definition: OutlierFilter.cpp:64
PointMatcher::ICPSequence::getPrefilteredInternalMap
const DataPoints & getPrefilteredInternalMap() const
Return the map, in internal coordinates (fast)
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:564
PointMatcher::Int64Matrix
Eigen::Matrix< std::int64_t, Eigen::Dynamic, Eigen::Dynamic > Int64Matrix
A dense signed 64-bits matrix.
Definition: PointMatcher.h:173
PointMatcher::ICPChainBase::readingDataPointsFilters
DataPointsFilters readingDataPointsFilters
filters for reading, applied once
Definition: PointMatcher.h:655
PointMatcher::DataPointsFiltersConstIt
DataPointsFilters::const_iterator DataPointsFiltersConstIt
alias
Definition: PointMatcher.h:460
PointMatcher::TransformationCheckers::init
void init(const TransformationParameters &parameters, bool &iterate)
Init all transformation checkers, set iterate to false if iteration should stop.
Definition: TransformationChecker.cpp:112
PointMatcher::DataPoints::featureExists
bool featureExists(const std::string &name) const
Look if a feature with a given name exist.
Definition: pointmatcher/DataPoints.cpp:486
PointMatcher::ICP::getReadingFiltered
const DataPoints & getReadingFiltered() const
Return the filtered point cloud reading used in the ICP chain.
Definition: PointMatcher.h:716
PointMatcher::OutlierFiltersIt
OutlierFilters::iterator OutlierFiltersIt
alias
Definition: PointMatcher.h:517
PointMatcher::ErrorMinimizer::ErrorElements
A structure holding data ready for minimization. The data are "normalized", for instance there are no...
Definition: PointMatcher.h:530
PointMatcher::DataPoints::removeField
void removeField(const std::string &name, Labels &labels, MatrixType &data) const
Remove a descriptor or feature by name, no copy is done.
Definition: pointmatcher/DataPoints.cpp:884
PointMatcher::DataPoints::allocateTime
void allocateTime(const std::string &name, const unsigned dim)
Makes sure a time of a given name exists, if present, check its dimensions.
Definition: pointmatcher/DataPoints.cpp:621
PointMatcher::DataPoints::allocateFeature
void allocateFeature(const std::string &name, const unsigned dim)
Makes sure a feature of a given name exists, if present, check its dimensions.
Definition: pointmatcher/DataPoints.cpp:421
PointMatcher::Matches::Matches
Matches()
In case of too few matches the dists are filled with InvalidDist.
Definition: Matches.cpp:43
PointMatcherSupport::Logger::warningStream
virtual std::ostream * warningStream()
Return the warning stream, 0 if hasWarningChannel() returns false.
Definition: Logger.cpp:88
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:144
PointMatcher::PointMatcher
PointMatcher()
Constructor, populates the registrars.
Definition: Registry.cpp:61
PointMatcher::DataPoints::getFieldStartingRow
unsigned getFieldStartingRow(const std::string &name, const Labels &labels) const
Return the starting row of a feature or a descriptor with a given name. Return 0 if the name is not f...
Definition: pointmatcher/DataPoints.cpp:1004
PointMatcher::DataPoints::featureLabels
Labels featureLabels
labels of features
Definition: PointMatcher.h:332
PointMatcher::Transformation::correctParameters
virtual TransformationParameters correctParameters(const TransformationParameters &parameters) const =0
Return a valid version of the given transformation.
PointMatcher::ICPChainBase::outlierFilters
OutlierFilters outlierFilters
outlier filters
Definition: PointMatcher.h:660
PointMatcher::ICPSequence::loadFromYaml
virtual void loadFromYaml(std::istream &in)
Construct an ICP algorithm from a YAML file.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:531
PointMatcher::ErrorMinimizer::ErrorElements::matches
Matches matches
associations
Definition: PointMatcher.h:535
PointMatcher::DataPoints::setColFrom
void setColFrom(Index thisCol, const DataPoints &that, Index thatCol)
Set column thisCol equal to column thatCol of that, copy features and descriptors if any....
Definition: pointmatcher/DataPoints.cpp:392
PointMatcher::DataPoints::createSimilarEmpty
DataPoints createSimilarEmpty() const
Create an empty DataPoints of similar dimensions and labels for features, descriptors and times.
Definition: pointmatcher/DataPoints.cpp:339
PointMatcher::ICPChainBase::errorMinimizer
std::shared_ptr< ErrorMinimizer > errorMinimizer
error minimizer
Definition: PointMatcher.h:661
PointMatcher::DataPoints::concatenateLabelledMatrix
void concatenateLabelledMatrix(Labels *labels, MatrixType *data, const Labels extraLabels, const MatrixType extraData)
Add another matrix after the current one. Faster merge will be achieved if all labels are the same....
Definition: pointmatcher/DataPoints.cpp:257
PointMatcher::ErrorMinimizer::ErrorElements::weightedPointUsedRatio
T weightedPointUsedRatio
the ratio of how many points were used (with weight) for error minimization
Definition: PointMatcher.h:539
PointMatcher::DataPoints::descriptors
Matrix descriptors
descriptors of points in the cloud, might be empty
Definition: PointMatcher.h:333
PointMatcherSupport::Parametrizable::parameters
Parameters parameters
parameters with their values encoded in string
Definition: Parametrizable.h:161
PointMatcher::DataPoints::TimeView
Eigen::Block< Int64Matrix > TimeView
A view on a time.
Definition: PointMatcher.h:212
Registrar.h
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointMatcher::TransformationChecker
A transformation checker can stop the iteration depending on some conditions.
Definition: PointMatcher.h:580
PointMatcherSupport::Logger::Logger
Logger()
Construct without parameter.
Definition: Logger.cpp:45
PointMatcher::ErrorMinimizer::ErrorElements::reading
DataPoints reading
reading point cloud
Definition: PointMatcher.h:532
PointMatcher::DataPointsFilter
A data filter takes a point cloud as input, transforms it, and produces another point cloud as output...
Definition: PointMatcher.h:437
PointMatcher::DataPoints::getFeatureRowViewByName
ConstView getFeatureRowViewByName(const std::string &name, const unsigned row) const
Get a const view on a feature row by name and number, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:472
PointMatcher::DataPoints::getTimeViewByName
TimeConstView getTimeViewByName(const std::string &name) const
Get a const view on a time by name, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:658
PointMatcher::Matches::Ids
IntMatrix Ids
Identifiers of closest points, dense matrix of integers.
Definition: PointMatcher.h:374
PointMatcher::DataPoints::assertTimesConsistency
void assertTimesConsistency() const
Assert if times are not consistent with features.
Definition: pointmatcher/DataPoints.cpp:715
PointMatcher::IntMatrix
Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic > IntMatrix
A dense integer matrix.
Definition: PointMatcher.h:171
PointMatcherSupport::Parametrizable::InvalidParameter
An exception thrown when one tries to fetch the value of an unexisting parameter.
Definition: Parametrizable.h:101
PointMatcherSupport::Logger::hasInfoChannel
virtual bool hasInfoChannel() const
Return whether this logger provides the info channel.
Definition: Logger.cpp:58
PointMatcher::DataPoints::getNbPoints
unsigned getNbPoints() const
Return the number of points contained in the point cloud.
Definition: pointmatcher/DataPoints.cpp:158
PointMatcher::DataPoints::allocateField
void allocateField(const std::string &name, const unsigned dim, Labels &labels, MatrixType &data) const
Make sure a field of a given name exists, if present, check its dimensions.
Definition: pointmatcher/DataPoints.cpp:760
PointMatcher::TransformationChecker::conditionVariables
Vector conditionVariables
values of variables involved in conditions to stop ICP loop
Definition: PointMatcher.h:585
PointMatcher::ICP::operator()
TransformationParameters operator()(const DataPoints &readingIn, const DataPoints &referenceIn)
Perform ICP and return optimised transformation matrix.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:244
PointMatcher::DataPoints::Label::Label
Label(const std::string &text="", const size_t span=0)
Construct a label from a given name and number of data dimensions it spans.
Definition: pointmatcher/DataPoints.cpp:44
PointMatcher::swapDataPoints
static void swapDataPoints(DataPoints &a, DataPoints &b)
Exchange in place point clouds a and b, with no data copy.
Definition: pointmatcher/DataPoints.cpp:1022
PointMatcher::DataPoints::features
Matrix features
features of points in the cloud
Definition: PointMatcher.h:331
PointMatcher::ErrorMinimizer::ErrorElements::reference
DataPoints reference
reference point cloud
Definition: PointMatcher.h:533
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointMatcher::DataPoints::ConstView
const typedef Eigen::Block< const Matrix > ConstView
A view on a const feature or const descriptor.
Definition: PointMatcher.h:214
PointMatcher::TransformationsIt
Transformations::iterator TransformationsIt
alias
Definition: PointMatcher.h:426
PointMatcher::DataPoints::Index
Matrix::Index Index
An index to a row or a column.
Definition: PointMatcher.h:218
PointMatcher::ICPChainBase::matcher
std::shared_ptr< Matcher > matcher
matcher
Definition: PointMatcher.h:659
PointMatcher::TransformationCheckers::check
void check(const TransformationParameters &parameters, bool &iterate)
Check using all transformation checkers, set iterate to false if iteration should stop.
Definition: TransformationChecker.cpp:120
DeprecationWarnings.h
PointMatcher::ICP::computeWithTransformedReference
TransformationParameters computeWithTransformedReference(const DataPoints &readingIn, const DataPoints &reference, const TransformationParameters &T_refIn_refMean, const TransformationParameters &initialTransformationParameters)
Perferm ICP using an already-transformed reference and with an already-initialized matcher.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:317
PointMatcherSupport::Logger::beginWarningEntry
virtual void beginWarningEntry(const char *file, unsigned line, const char *func)
Start a new entry into the warning channel.
Definition: Logger.cpp:84
PointMatcher::DataPoints::Labels::contains
bool contains(const std::string &text) const
Return whether there is a label named text.
Definition: pointmatcher/DataPoints.cpp:75
PointMatcher::InvalidParameter
Parametrizable::InvalidParameter InvalidParameter
alias
Definition: PointMatcher.h:189
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
PointMatcher::ICPChainBase::inspector
std::shared_ptr< Inspector > inspector
inspector
Definition: PointMatcher.h:663
PointMatcher::TransformationChecker::conditionVariableNames
StringVector conditionVariableNames
names of variables involved in conditions to stop ICP loop
Definition: PointMatcher.h:587
PointMatcher::DataPoints::times
Int64Matrix times
time associated to each points, might be empty
Definition: PointMatcher.h:335
PointMatcher::DataPoints::allocateTimes
void allocateTimes(const Labels &newLabels)
Make sure a vector of time of given names exist.
Definition: pointmatcher/DataPoints.cpp:628
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:98
PointMatcher::DataPoints::removeTime
void removeTime(const std::string &name)
Remove a descriptor by name, the whole matrix will be copied.
Definition: pointmatcher/DataPoints.cpp:643
PointMatcher::DataPoints::assertConsistency
void assertConsistency(const std::string &dataName, const int dataRows, const int dataCols, const Labels &labels) const
Assert if a matrix is not consistent with features.
Definition: pointmatcher/DataPoints.cpp:722
PointMatcher::DataPoints::removeDescriptor
void removeDescriptor(const std::string &name)
Remove a descriptor by name, the whole matrix will be copied.
Definition: pointmatcher/DataPoints.cpp:539
PointMatcher::Matches::InvalidId
static constexpr int InvalidId
Definition: PointMatcher.h:377
PointMatcher::ICPChainBase::prefilteredReadingPtsCount
unsigned prefilteredReadingPtsCount
remaining number of points after prefiltering but before the iterative process
Definition: PointMatcher.h:676
PointMatcher::DataPoints::getTimeStartingRow
unsigned getTimeStartingRow(const std::string &name) const
Return the starting row of a time with a given name. Return 0 if the name is not found.
Definition: pointmatcher/DataPoints.cpp:708
PointMatcher::ErrorMinimizer::ErrorElements::weights
OutlierWeights weights
weights for every association
Definition: PointMatcher.h:534
PointMatcher::DataPoints::Label::span
size_t span
number of data dimensions the label spans
Definition: PointMatcher.h:224
PointMatcher::DataPoints::Labels::Labels
Labels()
Construct empty Labels.
Definition: pointmatcher/DataPoints.cpp:64
PointMatcher::Matcher::visitCounter
unsigned long visitCounter
number of points visited
Definition: PointMatcher.h:472
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:117
PointMatcherSupport::Logger::~Logger
virtual ~Logger()
Virtual destructor, do nothing.
Definition: Logger.cpp:54
PointMatcher::DataPoints::getDescriptorDimension
unsigned getDescriptorDimension(const std::string &name) const
Return the dimension of a descriptor with a given name. Return 0 if the name is not found.
Definition: pointmatcher/DataPoints.cpp:596
PointMatcher::TransformationCheckers
A chain of TransformationChecker.
Definition: PointMatcher.h:608
PointMatcher::DataPoints::getDescriptorDim
unsigned getDescriptorDim() const
Return the total number of descriptors.
Definition: pointmatcher/DataPoints.cpp:186
PointMatcher::DataPoints::View
Eigen::Block< Matrix > View
A view on a feature or descriptor.
Definition: PointMatcher.h:210
PointMatcher::Inspector
An inspector allows to log data at the different steps, for analysis.
Definition: PointMatcher.h:621
PointMatcher::DataPoints::conservativeResize
void conservativeResize(Index pointCount)
Resize the cloud to pointCount points, conserving existing ones.
Definition: pointmatcher/DataPoints.cpp:327
init
void init(const M_string &remappings)
PointMatcher::TransformationChecker::StringVector
std::vector< std::string > StringVector
a vector of strings
Definition: PointMatcher.h:583
PointMatcher::DataPoints::getDescriptorRowViewByName
ConstView getDescriptorRowViewByName(const std::string &name, const unsigned row) const
Get a const view on a descriptor row by name and number, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:568
PointMatcher::Transformations::apply
void apply(DataPoints &cloud, const TransformationParameters &parameters) const
Apply this chain to cloud, using parameters, mutates cloud.
Definition: Transformation.cpp:61
PointMatcher::get
static const PointMatcher & get()
Return instances.
Definition: Registry.cpp:141
PointMatcher::ErrorMinimizer::ErrorElements::nbRejectedMatches
int nbRejectedMatches
number of matches with zero weights
Definition: PointMatcher.h:536
PointMatcher::DataPoints::Labels::totalDim
size_t totalDim() const
Return the sum of the spans of each label.
Definition: pointmatcher/DataPoints.cpp:87
PointMatcher::Matches::getStandardDeviation
T getStandardDeviation() const
Definition: Matches.cpp:125
PointMatcher::ICPChainBase::transformations
Transformations transformations
transformations
Definition: PointMatcher.h:658
PointMatcherSupport::Logger::finishWarningEntry
virtual void finishWarningEntry(const char *file, unsigned line, const char *func)
Finish the entry into the warning channel.
Definition: Logger.cpp:94
PointMatcher::DataPoints::DataPoints
DataPoints()
Construct an empty point cloud.
Definition: pointmatcher/DataPoints.cpp:97
PointMatcher::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
alias
Definition: PointMatcher.h:187
PointMatcher::ErrorMinimizer
An error minimizer will compute a transformation matrix such as to minimize the error between the rea...
Definition: PointMatcher.h:527
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
PointMatcher::Transformation::~Transformation
virtual ~Transformation()
virtual destructor
Definition: Transformation.cpp:52
PointMatcher::DataPoints::getFieldDimension
unsigned getFieldDimension(const std::string &name, const Labels &labels) const
Return the dimension of a feature or a descriptor with a given name. Return 0 if the name is not foun...
Definition: pointmatcher/DataPoints.cpp:991
PointMatcher::DataPoints::getTimeRowViewByName
TimeConstView getTimeRowViewByName(const std::string &name, const unsigned row) const
Get a const view on a time row by name and number, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:672
PointMatcher::DataPoints::fieldExists
bool fieldExists(const std::string &name, const unsigned dim, const Labels &labels) const
Look if a descriptor or a feature with a given name and dimension exist.
Definition: pointmatcher/DataPoints.cpp:973
PointMatcher::Transformation::Transformation
Transformation()
Construct without parameter.
Definition: Transformation.cpp:41
PointMatcherSupport::ConfigurationError::ConfigurationError
ConfigurationError(const std::string &reason)
return an exception when a transformation has invalid parameters
Definition: Exceptions.cpp:46
PointMatcher::Matches::getDistsQuantile
T getDistsQuantile(const T quantile) const
Get the distance at the T-ratio closest point.
Definition: Matches.cpp:61
PointMatcher::ICPSequence::getPrefilteredMap
const DataPoints getPrefilteredMap() const
Return the map, in global coordinates (slow)
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:543
PointMatcherSupport::TransformationError
An expection thrown when a transformation has invalid parameters.
Definition: PointMatcher.h:89
PointMatcher::Transformation::compute
virtual DataPoints compute(const DataPoints &input, const TransformationParameters &parameters) const =0
Transform input using the transformation matrix.
PointMatcher::ICPSequence::T_refIn_refMean
TransformationParameters T_refIn_refMean
offset for centered map
Definition: PointMatcher.h:763
PointMatcher::DataPoints::load
static DataPoints load(const std::string &fileName)
Load a point cloud from a file, determine format from extension.
Definition: pointmatcher/IO.cpp:375
PointMatcher::TransformationChecker::limitNames
StringVector limitNames
names of limits involved in conditions to stop ICP loop
Definition: PointMatcher.h:586
PointMatcher::DataPointsFilters::apply
void apply(DataPoints &cloud)
Apply this chain to cloud, mutates cloud.
Definition: DataPointsFilter.cpp:107
PointMatcher::DataPoints::addField
void addField(const std::string &name, const MatrixType &newField, Labels &labels, MatrixType &data) const
Add a descriptor or feature by name, remove first if already exists.
Definition: pointmatcher/DataPoints.cpp:827
PointMatcher::DataPoints::getDescriptorViewByName
ConstView getDescriptorViewByName(const std::string &name) const
Get a const view on a descriptor by name, throw an exception if it does not exist.
Definition: pointmatcher/DataPoints.cpp:554
PointMatcher::DataPoints::save
void save(const std::string &fileName, bool binary=false) const
Save a point cloud to a file, determine format from extension.
Definition: pointmatcher/IO.cpp:809
PointMatcher::DataPoints::InvalidField::InvalidField
InvalidField(const std::string &reason)
Construct the exception with an error message.
Definition: pointmatcher/DataPoints.cpp:51
PointMatcher::ConvergenceError::ConvergenceError
ConvergenceError(const std::string &reason)
Construct the exception with an error message.
Definition: Exceptions.cpp:42
PointMatcherSupport::Parametrizable::className
const std::string className
name of the class
Definition: Parametrizable.h:159
PointMatcher::ErrorMinimizer::lastErrorElements
ErrorElements lastErrorElements
memory of the last computed error
Definition: PointMatcher.h:568
PointMatcher::DataPoints::getFeatureStartingRow
unsigned getFeatureStartingRow(const std::string &name) const
Return the starting row of a feature with a given name. Return 0 if the name is not found.
Definition: pointmatcher/DataPoints.cpp:507
PointMatcher::DataPoints::getFeatureCopyByName
Matrix getFeatureCopyByName(const std::string &name) const
Get feature by name, return a matrix containing a copy of the requested feature.
Definition: pointmatcher/DataPoints.cpp:451
PointMatcher::ICP::readingFiltered
DataPoints readingFiltered
reading point cloud after the filters were applied
Definition: PointMatcher.h:725
PointMatcher::ICPChainBase::prefilteredReferencePtsCount
unsigned prefilteredReferencePtsCount
remaining number of points after prefiltering but before the iterative process
Definition: PointMatcher.h:677
PointMatcher::DataPoints::allocateDescriptors
void allocateDescriptors(const Labels &newLabels)
Make sure a vector of descriptors of given names exist.
Definition: pointmatcher/DataPoints.cpp:525
PointMatcher::TransformationsConstIt
Transformations::const_iterator TransformationsConstIt
alias
Definition: PointMatcher.h:427
PointMatcher::ICP
ICP algorithm.
Definition: PointMatcher.h:699
PointMatcher::Quaternion
Eigen::Quaternion< T > Quaternion
A quaternion over ScalarType.
Definition: PointMatcher.h:165
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:156
PointMatcher::ICPChainBase::readingStepDataPointsFilters
DataPointsFilters readingStepDataPointsFilters
filters for reading, applied at each step
Definition: PointMatcher.h:656
PointMatcher::DataPoints::Labels::const_iterator
std::vector< Label >::const_iterator const_iterator
alias
Definition: PointMatcher.h:231
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182
PointMatcherSupport::InvalidModuleType::InvalidModuleType
InvalidModuleType(const std::string &reason)
Construct an invalid–module-type exception.
Definition: 3rdparty/libpointmatcher/pointmatcher/ICP.cpp:59
PointMatcher::DataPoints::Label
The name for a certain number of dim.
Definition: PointMatcher.h:221
PointMatcher::Matches::InvalidDist
static constexpr T InvalidDist
In case of too few matches the ids are filled with InvalidId.
Definition: PointMatcher.h:378


mp2p_icp
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autogenerated on Fri Dec 20 2024 03:45:59