An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More...
#include <PointMatcher.h>
Classes | |
| struct | ErrorElements |
| A structure holding data ready for minimization. The data are "normalized", for instance there are no points with 0 weight, etc. More... | |
Public Member Functions | |
| virtual TransformationParameters | compute (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches) |
| Find the transformation that minimizes the error. More... | |
| virtual TransformationParameters | compute (const ErrorElements &matchedPoints)=0 |
| Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer. More... | |
| ErrorMinimizer () | |
| Construct without parameter. More... | |
| ErrorMinimizer (const std::string &className, const ParametersDoc paramsDoc, const Parameters ¶ms) | |
| 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... | |
| 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... | |
| T | getPointUsedRatio () const |
| Return the ratio of how many points were used 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... | |
| 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 ¶mName) |
| Return the value of paramName, lexically-casted to S. More... | |
| std::string | getParamValueString (const std::string ¶mName) |
| Get the value of a parameter, as a string. More... | |
| Parametrizable () | |
| Construct a documentation of parameters from a description in the source. More... | |
| Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters ¶ms) | |
| Construct with documented parameters. More... | |
| virtual | ~Parametrizable () |
| Virtual destructor, do nothing. More... | |
Static Public Member Functions | |
| 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... | |
Protected Attributes | |
| ErrorElements | lastErrorElements |
| memory of the last computed error More... | |
Additional Inherited Members | |
| 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 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... | |
Detailed Description
template<typename T>
struct PointMatcher< T >::ErrorMinimizer
An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference.
Typical error minimized are point-to-point and point-to-plane.
Definition at line 527 of file PointMatcher.h.
Constructor & Destructor Documentation
◆ ErrorMinimizer() [1/2]
| PointMatcher< T >::ErrorMinimizer::ErrorMinimizer |
Construct without parameter.
Definition at line 202 of file ErrorMinimizer.cpp.
◆ ErrorMinimizer() [2/2]
| PointMatcher< T >::ErrorMinimizer::ErrorMinimizer | ( | const std::string & | className, |
| const ParametersDoc | paramsDoc, | ||
| const Parameters & | params | ||
| ) |
Construct with parameters.
Definition at line 207 of file ErrorMinimizer.cpp.
◆ ~ErrorMinimizer()
|
virtual |
virtual destructor
Definition at line 213 of file ErrorMinimizer.cpp.
Member Function Documentation
◆ compute() [1/2]
|
virtual |
Find the transformation that minimizes the error.
Definition at line 218 of file ErrorMinimizer.cpp.
◆ compute() [2/2]
|
pure virtual |
Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer.
Implemented in PointToPlaneErrorMinimizer< T >, PointToPlaneWithCovErrorMinimizer< T >, PointToPointWithCovErrorMinimizer< T >, PointToPointErrorMinimizer< T >, PointToPointSimilarityErrorMinimizer< T >, and IdentityErrorMinimizer< T >.
◆ crossProduct()
|
static |
Helper funtion doing the cross product in 3D and a pseudo cross product in 2D.
Definition at line 282 of file ErrorMinimizer.cpp.
◆ getCovariance()
|
virtual |
If not redefined by child class, return zero matrix.
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >, and PointToPointWithCovErrorMinimizer< T >.
Definition at line 266 of file ErrorMinimizer.cpp.
◆ getErrorElements()
| PointMatcher< T >::ErrorMinimizer::ErrorElements PointMatcher< T >::ErrorMinimizer::getErrorElements |
Return the last the ErrorElements structure that was used for error minimization.
Definition at line 243 of file ErrorMinimizer.cpp.
◆ getOverlap()
|
virtual |
If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization.
Reimplemented in PointToPlaneErrorMinimizer< T >, PointToPointErrorMinimizer< T >, and PointToPointSimilarityErrorMinimizer< T >.
Definition at line 258 of file ErrorMinimizer.cpp.
◆ getPointUsedRatio()
| T PointMatcher< T >::ErrorMinimizer::getPointUsedRatio |
Return the ratio of how many points were used for error minimization.
Definition at line 236 of file ErrorMinimizer.cpp.
◆ getResidualError()
|
virtual |
If not redefined by child class, return max value for T.
Reimplemented in PointToPlaneErrorMinimizer< T >, PointToPointErrorMinimizer< T >, and PointToPointSimilarityErrorMinimizer< T >.
Definition at line 274 of file ErrorMinimizer.cpp.
◆ getWeightedPointUsedRatio()
| T PointMatcher< T >::ErrorMinimizer::getWeightedPointUsedRatio |
Return the ratio of how many points were used (with weight) for error minimization.
Definition at line 251 of file ErrorMinimizer.cpp.
Member Data Documentation
◆ lastErrorElements
|
protected |
memory of the last computed error
Definition at line 568 of file PointMatcher.h.
The documentation for this struct was generated from the following files: