Functions and classes that are dependant on scalar type are defined in this templatized class. More...
#include <PointMatcher.h>
Classes | |
| struct | ConvergenceError |
| Point matcher did not converge. More... | |
| struct | DataPoints |
| A point cloud. More... | |
| struct | DataPointsFilter |
| A data filter takes a point cloud as input, transforms it, and produces another point cloud as output. More... | |
| struct | DataPointsFilters |
| A chain of DataPointsFilter. More... | |
| struct | ErrorMinimizer |
| An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More... | |
| struct | ICP |
| ICP algorithm. More... | |
| struct | ICPChainBase |
| Stuff common to all ICP algorithms. More... | |
| struct | ICPSequence |
| struct | Inspector |
| An inspector allows to log data at the different steps, for analysis. More... | |
| struct | Matcher |
| A matcher links points in the reading to points in the reference. More... | |
| struct | Matches |
| Result of the data-association step (Matcher::findClosests), before outlier rejection. More... | |
| struct | OutlierFilter |
| An outlier filter removes or weights links between points in reading and their matched points in reference, depending on some criteria. More... | |
| struct | OutlierFilters |
| A chain of OutlierFilter. More... | |
| struct | Transformation |
| A function that transforms points and their descriptors given a transformation matrix. More... | |
| struct | TransformationChecker |
| A transformation checker can stop the iteration depending on some conditions. More... | |
| struct | TransformationCheckers |
| A chain of TransformationChecker. More... | |
| struct | Transformations |
| A chain of Transformation. More... | |
Public Types | |
| typedef Eigen::Array< T, Eigen::Dynamic, Eigen::Dynamic > | Array |
| A dense array over ScalarType. More... | |
| typedef DataPointsFilters::const_iterator | DataPointsFiltersConstIt |
| alias More... | |
| typedef DataPointsFilters::iterator | DataPointsFiltersIt |
| alias More... | |
| typedef Eigen::Matrix< std::int64_t, Eigen::Dynamic, Eigen::Dynamic > | Int64Matrix |
| A dense signed 64-bits matrix. More... | |
| typedef Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic > | IntMatrix |
| A dense integer matrix. More... | |
| typedef Parametrizable::InvalidParameter | InvalidParameter |
| alias More... | |
| typedef Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > | Matrix |
| A dense matrix over ScalarType. More... | |
| typedef OutlierFilters::const_iterator | OutlierFiltersConstIt |
| alias More... | |
| typedef OutlierFilters::iterator | OutlierFiltersIt |
| alias More... | |
| typedef Matrix | OutlierWeights |
| Weights of the associations between the points in Matches and the points in the reference. More... | |
| typedef Parametrizable::ParameterDoc | ParameterDoc |
| alias More... | |
| typedef Parametrizable::Parameters | Parameters |
| alias More... | |
| typedef Parametrizable::ParametersDoc | ParametersDoc |
| alias More... | |
| typedef PointMatcherSupport::Parametrizable | Parametrizable |
| alias More... | |
| typedef Eigen::Quaternion< T > | Quaternion |
| A quaternion over ScalarType. More... | |
| typedef std::vector< Quaternion, Eigen::aligned_allocator< Quaternion > > | QuaternionVector |
| A vector of quaternions over ScalarType. More... | |
| typedef T | ScalarType |
| The scalar type. More... | |
| typedef TransformationCheckers::const_iterator | TransformationCheckersConstIt |
| alias More... | |
| typedef TransformationCheckers::iterator | TransformationCheckersIt |
| alias More... | |
| typedef Matrix | TransformationParameters |
| A matrix holding the parameters a transformation. More... | |
| typedef Transformations::const_iterator | TransformationsConstIt |
| alias More... | |
| typedef Transformations::iterator | TransformationsIt |
| alias More... | |
| typedef Eigen::Matrix< T, Eigen::Dynamic, 1 > | Vector |
| A vector over ScalarType. More... | |
| typedef std::vector< Vector, Eigen::aligned_allocator< Vector > > | VectorVector |
| A vector of vector over ScalarType, not a matrix. More... | |
Public Member Functions | |
| PointMatcher () | |
| Constructor, populates the registrars. More... | |
Static Public Member Functions | |
| static const PointMatcher & | get () |
| Return instances. More... | |
| static void | swapDataPoints (DataPoints &a, DataPoints &b) |
| Exchange in place point clouds a and b, with no data copy. More... | |
Detailed Description
template<typename T>
struct PointMatcher< T >
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition at line 130 of file PointMatcher.h.
Member Typedef Documentation
◆ Array
| typedef Eigen::Array<T, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::Array |
A dense array over ScalarType.
Definition at line 175 of file PointMatcher.h.
◆ DataPointsFiltersConstIt
| typedef DataPointsFilters::const_iterator PointMatcher< T >::DataPointsFiltersConstIt |
alias
Definition at line 460 of file PointMatcher.h.
◆ DataPointsFiltersIt
| typedef DataPointsFilters::iterator PointMatcher< T >::DataPointsFiltersIt |
alias
Definition at line 459 of file PointMatcher.h.
◆ Int64Matrix
| typedef Eigen::Matrix<std::int64_t, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::Int64Matrix |
A dense signed 64-bits matrix.
Definition at line 173 of file PointMatcher.h.
◆ IntMatrix
| typedef Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::IntMatrix |
A dense integer matrix.
Definition at line 171 of file PointMatcher.h.
◆ InvalidParameter
| typedef Parametrizable::InvalidParameter PointMatcher< T >::InvalidParameter |
alias
Definition at line 189 of file PointMatcher.h.
◆ Matrix
| typedef Eigen::Matrix<T, Eigen::Dynamic, Eigen::Dynamic> PointMatcher< T >::Matrix |
A dense matrix over ScalarType.
Definition at line 169 of file PointMatcher.h.
◆ OutlierFiltersConstIt
| typedef OutlierFilters::const_iterator PointMatcher< T >::OutlierFiltersConstIt |
alias
Definition at line 516 of file PointMatcher.h.
◆ OutlierFiltersIt
| typedef OutlierFilters::iterator PointMatcher< T >::OutlierFiltersIt |
alias
Definition at line 517 of file PointMatcher.h.
◆ OutlierWeights
| typedef Matrix PointMatcher< T >::OutlierWeights |
Weights of the associations between the points in Matches and the points in the reference.
A weight of 0 means no association, while a weight of 1 means a complete trust in association.
Definition at line 397 of file PointMatcher.h.
◆ ParameterDoc
| typedef Parametrizable::ParameterDoc PointMatcher< T >::ParameterDoc |
alias
Definition at line 187 of file PointMatcher.h.
◆ Parameters
| typedef Parametrizable::Parameters PointMatcher< T >::Parameters |
alias
Definition at line 186 of file PointMatcher.h.
◆ ParametersDoc
| typedef Parametrizable::ParametersDoc PointMatcher< T >::ParametersDoc |
alias
Definition at line 188 of file PointMatcher.h.
◆ Parametrizable
| typedef PointMatcherSupport::Parametrizable PointMatcher< T >::Parametrizable |
alias
Definition at line 185 of file PointMatcher.h.
◆ Quaternion
| typedef Eigen::Quaternion<T> PointMatcher< T >::Quaternion |
A quaternion over ScalarType.
Definition at line 165 of file PointMatcher.h.
◆ QuaternionVector
| typedef std::vector<Quaternion, Eigen::aligned_allocator<Quaternion> > PointMatcher< T >::QuaternionVector |
A vector of quaternions over ScalarType.
Definition at line 167 of file PointMatcher.h.
◆ ScalarType
| typedef T PointMatcher< T >::ScalarType |
The scalar type.
Definition at line 159 of file PointMatcher.h.
◆ TransformationCheckersConstIt
| typedef TransformationCheckers::const_iterator PointMatcher< T >::TransformationCheckersConstIt |
alias
Definition at line 614 of file PointMatcher.h.
◆ TransformationCheckersIt
| typedef TransformationCheckers::iterator PointMatcher< T >::TransformationCheckersIt |
alias
Definition at line 613 of file PointMatcher.h.
◆ TransformationParameters
| typedef Matrix PointMatcher< T >::TransformationParameters |
A matrix holding the parameters a transformation.
The transformation lies in the special Euclidean group of dimension 
, 
, implemented as a dense matrix of size 
over ScalarType.
Definition at line 182 of file PointMatcher.h.
◆ TransformationsConstIt
| typedef Transformations::const_iterator PointMatcher< T >::TransformationsConstIt |
alias
Definition at line 427 of file PointMatcher.h.
◆ TransformationsIt
| typedef Transformations::iterator PointMatcher< T >::TransformationsIt |
alias
Definition at line 426 of file PointMatcher.h.
◆ Vector
| typedef Eigen::Matrix<T, Eigen::Dynamic, 1> PointMatcher< T >::Vector |
A vector over ScalarType.
Definition at line 161 of file PointMatcher.h.
◆ VectorVector
| typedef std::vector<Vector, Eigen::aligned_allocator<Vector> > PointMatcher< T >::VectorVector |
A vector of vector over ScalarType, not a matrix.
Definition at line 163 of file PointMatcher.h.
Constructor & Destructor Documentation
◆ PointMatcher()
| PointMatcher< T >::PointMatcher |
Constructor, populates the registrars.
Definition at line 61 of file Registry.cpp.
Member Function Documentation
◆ get()
|
static |
Return instances.
Definition at line 141 of file Registry.cpp.
◆ swapDataPoints()
|
static |
Exchange in place point clouds a and b, with no data copy.
Definition at line 1022 of file pointmatcher/DataPoints.cpp.
The documentation for this struct was generated from the following files: