Stuff common to all ICP algorithms. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICPChainBase:

Public Member Functions
template<typename R >
const std::string &	createModuleFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, std::shared_ptr< typename R::TargetType > &module)
	Instantiate a module if its name is in the YAML file.
template<typename R >
const std::string &	createModulesFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules)
	Instantiate modules if their names are in the YAML file.
bool	getMaxNumIterationsReached () const
	Return the flag that informs if we reached the maximum number of iterations during the last iterative process.
unsigned	getPrefilteredReadingPtsCount () const
	Return the remaining number of points in reading after prefiltering but before the iterative process.
unsigned	getPrefilteredReferencePtsCount () const
	Return the remaining number of points in the reference after prefiltering but before the iterative process.
void	loadFromYaml (std::istream &in)
	Construct an ICP algorithm from a YAML file.
virtual void	setDefault ()
	Construct an ICP algorithm that works in most of the cases.
virtual	~ICPChainBase ()
	virtual desctructor
Public Attributes
std::shared_ptr< ErrorMinimizer >	errorMinimizer
	error minimizer
std::shared_ptr< Inspector >	inspector
	inspector
std::shared_ptr< Matcher >	matcher
	matcher
OutlierFilters	outlierFilters
	outlier filters
DataPointsFilters	readingDataPointsFilters
	filters for reading, applied once
DataPointsFilters	readingStepDataPointsFilters
	filters for reading, applied at each step
DataPointsFilters	referenceDataPointsFilters
	filters for reference
TransformationCheckers	transformationCheckers
	transformation checkers
Transformations	transformations
	transformations
Protected Member Functions
void	cleanup ()
	Clean chain up, empty all filters and delete associated objects.
template<typename R >
const std::string &	createModuleFromRegistrar (const std::string &regName, const PointMatcherSupport::YAML::Node &doc, const R &registrar, std::shared_ptr< typename R::TargetType > &module)
	Instantiate a module if its name is in the YAML file.
template<typename R >
const std::string &	createModulesFromRegistrar (const std::string &regName, const PointMatcherSupport::YAML::Node &doc, const R &registrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules)
	Instantiate modules if their names are in the YAML file.
	ICPChainBase ()
	Protected contstructor, to prevent the creation of this object.
virtual void	loadAdditionalYAMLContent (PointMatcherSupport::YAML::Node &doc)
	Hook to load addition subclass-specific content from the YAML file.
std::string	nodeVal (const std::string &regName, const PointMatcherSupport::YAML::Node &doc)
	Get the value of a field in a node.
Protected Attributes
bool	maxNumIterationsReached
	store if we reached the maximum number of iterations last time compute was called
unsigned	prefilteredReadingPtsCount
	remaining number of points after prefiltering but before the iterative process
unsigned	prefilteredReferencePtsCount
	remaining number of points after prefiltering but before the iterative process

Detailed Description

template<typename T>
struct PointMatcher< T >::ICPChainBase

Stuff common to all ICP algorithms.

Definition at line 644 of file PointMatcher.h.

Constructor & Destructor Documentation

template<typename T >

PointMatcher< T >::ICPChainBase::~ICPChainBase ( ) [virtual]

virtual desctructor

Definition at line 73 of file ICP.cpp.

template<typename T >

PointMatcher< T >::ICPChainBase::ICPChainBase ( ) [protected]

Protected contstructor, to prevent the creation of this object.

Definition at line 65 of file ICP.cpp.

Member Function Documentation

template<typename T >

void PointMatcher< T >::ICPChainBase::cleanup ( ) [protected]

Clean chain up, empty all filters and delete associated objects.

Definition at line 79 of file ICP.cpp.

template<typename T>

template<typename R >

const std::string& PointMatcher< T >::ICPChainBase::createModuleFromRegistrar	(	const std::string &	regName,
		const YAML::Node &	doc,
		const R &	registrar,
		std::shared_ptr< typename R::TargetType > &	module
	)

Instantiate a module if its name is in the YAML file.

Definition at line 211 of file ICP.cpp.

template<typename T>

template<typename R >

const std::string& PointMatcher< T >::ICPChainBase::createModuleFromRegistrar	(	const std::string &	regName,
		const PointMatcherSupport::YAML::Node &	doc,
		const R &	registrar,
		std::shared_ptr< typename R::TargetType > &	module
	)		`[protected]`

Instantiate a module if its name is in the YAML file.

template<typename T>

template<typename R >

const std::string& PointMatcher< T >::ICPChainBase::createModulesFromRegistrar	(	const std::string &	regName,
		const YAML::Node &	doc,
		const R &	registrar,
		std::vector< std::shared_ptr< typename R::TargetType > > &	modules
	)

Instantiate modules if their names are in the YAML file.

Definition at line 193 of file ICP.cpp.

template<typename T>

template<typename R >

const std::string& PointMatcher< T >::ICPChainBase::createModulesFromRegistrar	(	const std::string &	regName,
		const PointMatcherSupport::YAML::Node &	doc,
		const R &	registrar,
		std::vector< std::shared_ptr< typename R::TargetType > > &	modules
	)		`[protected]`

Instantiate modules if their names are in the YAML file.

template<typename T >

bool PointMatcher< T >::ICPChainBase::getMaxNumIterationsReached ( ) const

Return the flag that informs if we reached the maximum number of iterations during the last iterative process.

Definition at line 185 of file ICP.cpp.

template<typename T >

unsigned PointMatcher< T >::ICPChainBase::getPrefilteredReadingPtsCount ( ) const

Return the remaining number of points in reading after prefiltering but before the iterative process.

Definition at line 171 of file ICP.cpp.

template<typename T >

unsigned PointMatcher< T >::ICPChainBase::getPrefilteredReferencePtsCount ( ) const

Return the remaining number of points in the reference after prefiltering but before the iterative process.

Definition at line 178 of file ICP.cpp.

template<typename T>

void PointMatcher< T >::ICPChainBase::loadAdditionalYAMLContent ( PointMatcherSupport::YAML::Node & doc ) [protected, virtual]

Hook to load addition subclass-specific content from the YAML file.

Definition at line 94 of file ICP.cpp.

template<typename T >

void PointMatcher< T >::ICPChainBase::loadFromYaml ( std::istream & in )

Construct an ICP algorithm from a YAML file.

Definition at line 117 of file ICP.cpp.

template<typename T >

std::string PointMatcher< T >::ICPChainBase::nodeVal	(	const std::string &	regName,
		const PointMatcherSupport::YAML::Node &	doc
	)		`[protected]`

Get the value of a field in a node.

Definition at line 225 of file ICP.cpp.

template<typename T >

void PointMatcher< T >::ICPChainBase::setDefault ( ) [virtual]

Construct an ICP algorithm that works in most of the cases.

Definition at line 100 of file ICP.cpp.

Member Data Documentation

template<typename T>

std::shared_ptr<ErrorMinimizer> PointMatcher< T >::ICPChainBase::errorMinimizer

error minimizer

Definition at line 653 of file PointMatcher.h.

template<typename T>

std::shared_ptr<Inspector> PointMatcher< T >::ICPChainBase::inspector

inspector

Definition at line 655 of file PointMatcher.h.

template<typename T>

std::shared_ptr<Matcher> PointMatcher< T >::ICPChainBase::matcher

matcher

Definition at line 651 of file PointMatcher.h.

template<typename T>

bool PointMatcher< T >::ICPChainBase::maxNumIterationsReached [protected]

store if we reached the maximum number of iterations last time compute was called

Definition at line 670 of file PointMatcher.h.

template<typename T>

OutlierFilters PointMatcher< T >::ICPChainBase::outlierFilters

outlier filters

Definition at line 652 of file PointMatcher.h.

template<typename T>

unsigned PointMatcher< T >::ICPChainBase::prefilteredReadingPtsCount [protected]

remaining number of points after prefiltering but before the iterative process

Definition at line 668 of file PointMatcher.h.

template<typename T>

unsigned PointMatcher< T >::ICPChainBase::prefilteredReferencePtsCount [protected]

remaining number of points after prefiltering but before the iterative process

Definition at line 669 of file PointMatcher.h.

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::readingDataPointsFilters

filters for reading, applied once

Definition at line 647 of file PointMatcher.h.

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::readingStepDataPointsFilters

filters for reading, applied at each step

Definition at line 648 of file PointMatcher.h.

template<typename T>

DataPointsFilters PointMatcher< T >::ICPChainBase::referenceDataPointsFilters

filters for reference

Definition at line 649 of file PointMatcher.h.

template<typename T>

TransformationCheckers PointMatcher< T >::ICPChainBase::transformationCheckers

transformation checkers

Definition at line 654 of file PointMatcher.h.

template<typename T>

Transformations PointMatcher< T >::ICPChainBase::transformations

transformations

Definition at line 650 of file PointMatcher.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

template<typename T> struct PointMatcher< T >::ICPChainBase

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename T>
struct PointMatcher< T >::ICPChainBase