PointToPlaneWithCov.h
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #ifndef POINT_TO_PLANE_WITH_COV_ERROR_MINIMIZER_H
00037 #define POINT_TO_PLANE_WITH_COV_ERROR_MINIMIZER_H
00038 
00039 #include "PointMatcher.h"
00040 #include "ErrorMinimizersImpl.h"
00041 
00042 template<typename T>
00043 struct PointToPlaneWithCovErrorMinimizer: public PointToPlaneErrorMinimizer<T>
00044 {
00045     typedef PointMatcherSupport::Parametrizable Parametrizable;
00046     typedef PointMatcherSupport::Parametrizable P;
00047     typedef Parametrizable::Parameters Parameters;
00048     typedef Parametrizable::ParameterDoc ParameterDoc;
00049     typedef Parametrizable::ParametersDoc ParametersDoc;
00050 
00051     typedef typename PointMatcher<T>::DataPoints DataPoints;
00052     typedef typename PointMatcher<T>::Matches Matches;
00053     typedef typename PointMatcher<T>::OutlierWeights OutlierWeights;
00054     typedef typename PointMatcher<T>::ErrorMinimizer ErrorMinimizer;
00055     typedef typename PointMatcher<T>::ErrorMinimizer::ErrorElements ErrorElements;
00056     typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
00057     typedef typename PointMatcher<T>::Vector Vector;
00058     typedef typename PointMatcher<T>::Matrix Matrix;
00059 
00060     virtual inline const std::string name()
00061     {
00062         return "PointToPlaneWithCovErrorMinimizer";
00063     }
00064 
00065     inline static const std::string description()
00066     {
00067         return "Point-to-plane error (or point-to-line in 2D). Based on \\cite{Chen1991Point2Plane}. Covariance estimation based on \\cite{Censi2007ICPCovariance}.";
00068     }
00069 
00070     static inline const ParametersDoc availableParameters()
00071     {
00072         return {
00073             {"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>},
00074             {"sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>}
00075         };
00076     }
00077 
00078     const T sensorStdDev;
00079     Matrix covMatrix;
00080 
00081     PointToPlaneWithCovErrorMinimizer(const Parameters& params = Parameters());
00082     virtual TransformationParameters compute(const ErrorElements& mPts);
00083     virtual Matrix getCovariance() const;
00084     Matrix estimateCovariance(const ErrorElements& mPts, const TransformationParameters& transformation);
00085 };
00086 
00087 #endif


libpointmatcher
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autogenerated on Thu Jun 20 2019 19:51:32