Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
PointToPlaneErrorMinimizer< T > Struct Template Reference

#include <PointToPlane.h>

Inheritance diagram for PointToPlaneErrorMinimizer< T >:
Inheritance graph
[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, ParameterParameters
 Parameters stored as a map of string->string. More...
 
typedef std::vector< ParameterDocParametersDoc
 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...
 
getPointUsedRatio () const
 Return the ratio of how many points were used for error minimization. More...
 
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 >
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...
 
 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

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

Definition at line 45 of file PointToPlane.h.

◆ ParameterDoc

Definition at line 47 of file PointToPlane.h.

◆ Parameters

Definition at line 46 of file PointToPlane.h.

◆ ParametersDoc

Definition at line 48 of file PointToPlane.h.

◆ Parametrizable

Definition at line 44 of file PointToPlane.h.

◆ 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:


mp2p_icp
Author(s):
autogenerated on Fri Dec 20 2024 03:46:00