ErrorMinimizersImpl.h

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/*

Copyright (c) 2010--2012,
François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
You can contact the authors at <f dot pomerleau at gmail dot com> and
<stephane at magnenat dot net>

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#ifndef __POINTMATCHER_ERRORMINIMIZERS_H
#define __POINTMATCHER_ERRORMINIMIZERS_H

#include "PointMatcher.h"

template<typename T>
struct ErrorMinimizersImpl
{
        typedef PointMatcherSupport::Parametrizable Parametrizable;
        typedef PointMatcherSupport::Parametrizable P;
        typedef Parametrizable::Parameters Parameters;
        typedef Parametrizable::ParameterDoc ParameterDoc;
        typedef Parametrizable::ParametersDoc ParametersDoc;
        
        typedef typename PointMatcher<T>::DataPoints DataPoints;
        typedef typename PointMatcher<T>::Matches Matches;
        typedef typename PointMatcher<T>::OutlierWeights OutlierWeights;
        typedef typename PointMatcher<T>::ErrorMinimizer ErrorMinimizer;
        typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
        typedef typename PointMatcher<T>::Vector Vector;
        typedef typename PointMatcher<T>::Matrix Matrix;
        
        struct IdentityErrorMinimizer: ErrorMinimizer
        {
                inline static const std::string description()
                {
                        return "Does nothing.";
                }
                
                virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
        };

        struct PointToPointErrorMinimizer: ErrorMinimizer
        {
                inline static const std::string description()
                {
                        return "Point-to-point error. Based on SVD decomposition. Based on \\cite{Besl1992Point2Point}.";
                }
                
                virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
                virtual T getOverlap() const;
        };

        struct PointToPlaneErrorMinimizer: public ErrorMinimizer
        {
                inline static const std::string description()
                {
                        return "Point-to-plane error (or point-to-line in 2D). Based on \\cite{Chen1991Point2Plane}";
                }
                
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "force2D", "If set to true(1), the minimization will be force to give a solution in 2D (i.e., on the XY-plane) even with 3D inputs.", "0", "0", "1", &P::Comp<bool>)
                        ;
                }

                const bool force2D;
                
                PointToPlaneErrorMinimizer(const Parameters& params = Parameters());
                virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
                virtual T getOverlap() const;
        };

        struct PointToPointWithCovErrorMinimizer: ErrorMinimizer
        {
                inline static const std::string description()
                {
                        return "Point-to-point error. Based on SVD decomposition. Based on \\cite{Besl1992Point2Point}. Covariance estimation based on \\cite{Censi2007ICPCovariance}.";
                }

                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>)
                        ;
                }

            const T sensorStdDev;
                Matrix covMatrix;

                PointToPointWithCovErrorMinimizer(const Parameters& params = Parameters());
                virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
                virtual T getOverlap() const;
                virtual Matrix getCovariance() const;
                Matrix estimateCovariance(const DataPoints& reading, const DataPoints& reference, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationParameters& transformation);
        };

        struct PointToPlaneWithCovErrorMinimizer: public ErrorMinimizer
        {
                inline static const std::string description()
                {
                        return "Point-to-plane error (or point-to-line in 2D). Based on \\cite{Chen1991Point2Plane}. Covariance estimation based on \\cite{Censi2007ICPCovariance}.";
                }
                
                inline static const ParametersDoc availableParameters()
                {
                        return boost::assign::list_of<ParameterDoc>
                                ( "force2D", "If set to true(1), the minimization will be force to give a solution in 2D (i.e., on the XY-plane) even with 3D inputs.", "0", "0", "1", &P::Comp<bool>)
                                ( "sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>)
                        ;
                }

                const bool force2D;
            const T sensorStdDev;
                Matrix covMatrix;
                
                PointToPlaneWithCovErrorMinimizer(const Parameters& params = Parameters());
                virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
                virtual T getOverlap() const;
                virtual Matrix getCovariance() const;
                Matrix estimateCovariance(const DataPoints& reading, const DataPoints& reference, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationParameters& transformation);
        };
}; // ErrorMinimizersImpl

#endif // __POINTMATCHER_ERRORMINIMIZER_H