Classes | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes
PointMatcher< T >::ErrorMinimizer Struct Reference

An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ErrorMinimizer:
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List of all members.

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)=0
 Find the transformation that minimizes the error.
 ErrorMinimizer ()
 Construct without parameter.
 ErrorMinimizer (const std::string &className, const ParametersDoc paramsDoc, const Parameters &params)
 Construct with parameters.
virtual Matrix getCovariance () const
 If not redefined by child class, return zero matrix.
virtual T getOverlap () const
 If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization.
getPointUsedRatio () const
 Return the ratio of how many points were used for error minimization.
getWeightedPointUsedRatio () const
 Return the ratio of how many points were used (with weight) for error minimization.
virtual ~ErrorMinimizer ()
 virtual destructor

Protected Member Functions

ErrorElementsgetMatchedPoints (const DataPoints &reading, const DataPoints &reference, const Matches &matches, const OutlierWeights &outlierWeights)

Static Protected 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.

Protected Attributes

ErrorElements lastErrorElements
 memory of the last computed error
pointUsedRatio
 the ratio of how many points were used for error minimization
weightedPointUsedRatio
 the ratio of how many points were used (with weight) for error minimization

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 462 of file PointMatcher.h.


Constructor & Destructor Documentation

template<typename T >
PointMatcher< T >::ErrorMinimizer::ErrorMinimizer ( )

Construct without parameter.

Definition at line 41 of file ErrorMinimizer.cpp.

template<typename T >
PointMatcher< T >::ErrorMinimizer::ErrorMinimizer ( const std::string &  className,
const ParametersDoc  paramsDoc,
const Parameters params 
)

Construct with parameters.

Definition at line 48 of file ErrorMinimizer.cpp.

template<typename T >
PointMatcher< T >::ErrorMinimizer::~ErrorMinimizer ( ) [virtual]

virtual destructor

Definition at line 54 of file ErrorMinimizer.cpp.


Member Function Documentation

template<typename T>
virtual TransformationParameters PointMatcher< T >::ErrorMinimizer::compute ( const DataPoints filteredReading,
const DataPoints filteredReference,
const OutlierWeights outlierWeights,
const Matches matches 
) [pure virtual]
template<typename T >
PointMatcher< T >::Matrix PointMatcher< T >::ErrorMinimizer::crossProduct ( const Matrix A,
const Matrix B 
) [static, protected]

Helper funtion doing the cross product in 3D and a pseudo cross product in 2D.

Definition at line 103 of file ErrorMinimizer.cpp.

template<typename T >
PointMatcher< T >::Matrix PointMatcher< T >::ErrorMinimizer::getCovariance ( ) const [virtual]

If not redefined by child class, return zero matrix.

Reimplemented in ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer, and ErrorMinimizersImpl< T >::PointToPointWithCovErrorMinimizer.

Definition at line 95 of file ErrorMinimizer.cpp.

template<typename T >
PointMatcher< T >::ErrorMinimizer::ErrorElements & PointMatcher< T >::ErrorMinimizer::getMatchedPoints ( const DataPoints requestedPts,
const DataPoints sourcePts,
const Matches matches,
const OutlierWeights outlierWeights 
) [protected]

Helper function outputting pair of points from the reference and the reading based on the matching matrix

Definition at line 143 of file ErrorMinimizer.cpp.

template<typename T >
T PointMatcher< T >::ErrorMinimizer::getOverlap ( ) const [virtual]

If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization.

Reimplemented in ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer, ErrorMinimizersImpl< T >::PointToPointWithCovErrorMinimizer, ErrorMinimizersImpl< T >::PointToPlaneErrorMinimizer, and ErrorMinimizersImpl< T >::PointToPointErrorMinimizer.

Definition at line 87 of file ErrorMinimizer.cpp.

template<typename T >
T PointMatcher< T >::ErrorMinimizer::getPointUsedRatio ( ) const

Return the ratio of how many points were used for error minimization.

Definition at line 73 of file ErrorMinimizer.cpp.

template<typename T >
T PointMatcher< T >::ErrorMinimizer::getWeightedPointUsedRatio ( ) const

Return the ratio of how many points were used (with weight) for error minimization.

Definition at line 80 of file ErrorMinimizer.cpp.


Member Data Documentation

template<typename T>
ErrorElements PointMatcher< T >::ErrorMinimizer::lastErrorElements [protected]

memory of the last computed error

Definition at line 496 of file PointMatcher.h.

template<typename T>
T PointMatcher< T >::ErrorMinimizer::pointUsedRatio [protected]

the ratio of how many points were used for error minimization

Definition at line 494 of file PointMatcher.h.

template<typename T>
T PointMatcher< T >::ErrorMinimizer::weightedPointUsedRatio [protected]

the ratio of how many points were used (with weight) for error minimization

Definition at line 495 of file PointMatcher.h.


The documentation for this struct was generated from the following files:


upstream_src
Author(s):
autogenerated on Mon Oct 6 2014 10:27:42