#include <PointToPlane.h>
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 |
| Parameters stored as a map of string->string. | |
| typedef Parametrizable::ParametersDoc | ParametersDoc |
| The documentation of all parameters. | |
| typedef PointMatcherSupport::Parametrizable | Parametrizable |
| typedef PointMatcher< T > ::TransformationParameters | TransformationParameters |
| typedef PointMatcher< T >::Vector | Vector |
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. | |
| 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. | |
| 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. | |
| virtual const std::string | name () |
| PointToPlaneErrorMinimizer (const Parameters ¶ms=Parameters()) | |
| PointToPlaneErrorMinimizer (const ParametersDoc paramsDoc, const Parameters ¶ms) | |
Static Public Member Functions | |
| static const ParametersDoc | availableParameters () |
| static T | computeResidualError (ErrorElements mPts, const bool &force2D) |
| static const std::string | description () |
Public Attributes | |
| const bool | force2D |
Detailed Description
template<typename T>
struct PointToPlaneErrorMinimizer< T >
Definition at line 42 of file PointToPlane.h.
Member Typedef Documentation
| typedef PointMatcher<T>::DataPoints PointToPlaneErrorMinimizer< T >::DataPoints |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 50 of file PointToPlane.h.
| typedef PointMatcher<T>::ErrorMinimizer::ErrorElements PointToPlaneErrorMinimizer< T >::ErrorElements |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 54 of file PointToPlane.h.
| typedef PointMatcher<T>::ErrorMinimizer PointToPlaneErrorMinimizer< T >::ErrorMinimizer |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 53 of file PointToPlane.h.
| typedef PointMatcher<T>::Matches PointToPlaneErrorMinimizer< T >::Matches |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 51 of file PointToPlane.h.
| typedef PointMatcher<T>::Matrix PointToPlaneErrorMinimizer< T >::Matrix |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 57 of file PointToPlane.h.
| typedef PointMatcher<T>::OutlierWeights PointToPlaneErrorMinimizer< T >::OutlierWeights |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 52 of file PointToPlane.h.
| typedef PointMatcherSupport::Parametrizable PointToPlaneErrorMinimizer< T >::P |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 45 of file PointToPlane.h.
| typedef Parametrizable::ParameterDoc PointToPlaneErrorMinimizer< T >::ParameterDoc |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 47 of file PointToPlane.h.
| typedef Parametrizable::Parameters PointToPlaneErrorMinimizer< T >::Parameters |
Parameters stored as a map of string->string.
Reimplemented from PointMatcherSupport::Parametrizable.
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 46 of file PointToPlane.h.
| typedef Parametrizable::ParametersDoc PointToPlaneErrorMinimizer< T >::ParametersDoc |
The documentation of all parameters.
Reimplemented from PointMatcherSupport::Parametrizable.
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 48 of file PointToPlane.h.
| typedef PointMatcherSupport::Parametrizable PointToPlaneErrorMinimizer< T >::Parametrizable |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 44 of file PointToPlane.h.
| typedef PointMatcher<T>::TransformationParameters PointToPlaneErrorMinimizer< T >::TransformationParameters |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 55 of file PointToPlane.h.
| typedef PointMatcher<T>::Vector PointToPlaneErrorMinimizer< T >::Vector |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 56 of file PointToPlane.h.
Constructor & Destructor Documentation
| PointToPlaneErrorMinimizer< T >::PointToPlaneErrorMinimizer | ( | const Parameters & | params = Parameters() | ) |
Definition at line 54 of file PointToPlane.cpp.
| PointToPlaneErrorMinimizer< T >::PointToPlaneErrorMinimizer | ( | const ParametersDoc | paramsDoc, |
| const Parameters & | params | ||
| ) |
Definition at line 62 of file PointToPlane.cpp.
Member Function Documentation
| static const ParametersDoc PointToPlaneErrorMinimizer< T >::availableParameters | ( | ) | [inline, static] |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 69 of file PointToPlane.h.
| 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 126 of file PointToPlane.cpp.
| PointMatcher< T >::TransformationParameters PointToPlaneErrorMinimizer< T >::compute_in_place | ( | ErrorElements & | mPts | ) |
Definition at line 134 of file PointToPlane.cpp.
| T PointToPlaneErrorMinimizer< T >::computeResidualError | ( | ErrorElements | mPts, |
| const bool & | force2D | ||
| ) | [static] |
Definition at line 246 of file PointToPlane.cpp.
| static const std::string PointToPlaneErrorMinimizer< T >::description | ( | ) | [inline, static] |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 64 of file PointToPlane.h.
| T PointToPlaneErrorMinimizer< T >::getOverlap | ( | ) | const [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 300 of file PointToPlane.cpp.
| 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 285 of file PointToPlane.cpp.
| virtual const std::string PointToPlaneErrorMinimizer< T >::name | ( | ) | [inline, virtual] |
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >.
Definition at line 59 of file PointToPlane.h.
Member Data Documentation
| const bool PointToPlaneErrorMinimizer< T >::force2D |
Definition at line 76 of file PointToPlane.h.
The documentation for this struct was generated from the following files: