PointToPlane.h
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4 
5 Copyright (c) 2010--2012,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
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35 
36 #ifndef POINT_TO_PLANE_ERROR_MINIMIZER_H
37 #define POINT_TO_PLANE_ERROR_MINIMIZER_H
38 
39 #include "PointMatcher.h"
40 
41 template<typename T>
43 {
49 
56  typedef typename PointMatcher<T>::Vector Vector;
57  typedef typename PointMatcher<T>::Matrix Matrix;
58 
59  virtual inline const std::string name()
60  {
61  return "PointToPlaneErrorMinimizer";
62  }
63 
64  inline static const std::string description()
65  {
66  return "Point-to-plane error (or point-to-line in 2D). Per \\cite{Chen1991Point2Plane}.";
67  }
68 
69  inline static const ParametersDoc availableParameters()
70  {
71  return {
72  {"force2D", "If set to true(1), the minimization will be forced to give a solution in 2D (i.e., on the XY-plane) even with 3D inputs.", "0", "0", "1", &P::Comp<bool>},
73  {"force4DOF", "If set to true(1), the minimization will optimize only yaw and translation, pitch and roll will follow the prior.", "0", "0", "1", &P::Comp<bool>}
74 
75  };
76  }
77 
78  const bool force2D;
79  const bool force4DOF;
80 
83  //virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
84  virtual TransformationParameters compute(const ErrorElements& mPts);
86  virtual T getResidualError(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches) const;
87  virtual T getOverlap() const;
88 
89  static T computeResidualError(ErrorElements mPts, const bool& force2D);
90 };
91 
92 template<typename T, typename MatrixA, typename Vector>
93 void solvePossiblyUnderdeterminedLinearSystem(const MatrixA& A, const Vector & b, Vector & x);
94 
95 #endif
Vector
PM::Vector Vector
Definition: pypoint_matcher_helper.h:55
PointToPlaneErrorMinimizer::Matches
PointMatcher< T >::Matches Matches
Definition: PointToPlane.h:51
PointToPlaneErrorMinimizer::OutlierWeights
PointMatcher< T >::OutlierWeights OutlierWeights
Definition: PointToPlane.h:52
PointToPlaneErrorMinimizer::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: PointToPlane.h:50
PointToPlaneErrorMinimizer::getOverlap
virtual T getOverlap() const
If not redefined by child class, return the ratio of how many points were used (with weight) for erro...
Definition: PointToPlane.cpp:370
PointToPlaneErrorMinimizer::ErrorElements
PointMatcher< T >::ErrorMinimizer::ErrorElements ErrorElements
Definition: PointToPlane.h:54
PointToPlaneErrorMinimizer::Vector
PointMatcher< T >::Vector Vector
Definition: PointToPlane.h:56
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
PointToPlaneErrorMinimizer::availableParameters
static const ParametersDoc availableParameters()
Definition: PointToPlane.h:69
build_map.T
T
Definition: build_map.py:34
PointToPlaneErrorMinimizer::force4DOF
const bool force4DOF
Definition: PointToPlane.h:79
solvePossiblyUnderdeterminedLinearSystem
void solvePossiblyUnderdeterminedLinearSystem(const MatrixA &A, const Vector &b, Vector &x)
Definition: PointToPlane.cpp:109
PointToPlaneErrorMinimizer::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: PointToPlane.h:55
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointToPlaneErrorMinimizer::description
static const std::string description()
Definition: PointToPlane.h:64
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
PointToPlaneErrorMinimizer::Matrix
PointMatcher< T >::Matrix Matrix
Definition: PointToPlane.h:57
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcher::ErrorMinimizer::ErrorElements
A structure holding data ready for minimization. The data are "normalized", for instance there are no...
Definition: PointMatcher.h:533
PointToPlaneErrorMinimizer::computeResidualError
static T computeResidualError(ErrorElements mPts, const bool &force2D)
Definition: PointToPlane.cpp:316
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
PointToPlaneErrorMinimizer
Definition: PointToPlane.h:42
align_sequence.params
params
Definition: align_sequence.py:13
icp_advance_api.matches
matches
Definition: icp_advance_api.py:114
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointToPlaneErrorMinimizer::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: PointToPlane.h:44
PointToPlaneErrorMinimizer::name
virtual const std::string name()
Definition: PointToPlane.h:59
PointToPlaneErrorMinimizer::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: PointToPlane.h:47
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointToPlaneErrorMinimizer::PointToPlaneErrorMinimizer
PointToPlaneErrorMinimizer(const Parameters &params=Parameters())
Definition: PointToPlane.cpp:54
PointToPlaneErrorMinimizer::compute
virtual TransformationParameters compute(const ErrorElements &mPts)
Find the transformation that minimizes the error given matched pair of points. This function most be ...
Definition: PointToPlane.cpp:164
PointToPlaneErrorMinimizer::ErrorMinimizer
PointMatcher< T >::ErrorMinimizer ErrorMinimizer
Definition: PointToPlane.h:53
PointToPlaneErrorMinimizer::Parameters
Parametrizable::Parameters Parameters
Definition: PointToPlane.h:46
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
PointToPlaneErrorMinimizer::compute_in_place
TransformationParameters compute_in_place(ErrorElements &mPts)
Definition: PointToPlane.cpp:172
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointToPlaneErrorMinimizer::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: PointToPlane.h:48
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
PointToPlaneErrorMinimizer::getResidualError
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.
Definition: PointToPlane.cpp:355
PointToPlaneErrorMinimizer::force2D
const bool force2D
Definition: PointToPlane.h:78
PointMatcher::ErrorMinimizer
An error minimizer will compute a transformation matrix such as to minimize the error between the rea...
Definition: PointMatcher.h:530
PointMatcher.h
public interface
PointToPlaneErrorMinimizer::P
PointMatcherSupport::Parametrizable P
Definition: PointToPlane.h:45
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182


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