PointToPointWithCov.h
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6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 
36 #ifndef LIBPOINTMATCHER_POINTTOPOINTWITHCOV_H
37 #define LIBPOINTMATCHER_POINTTOPOINTWITHCOV_H
38 
39 #include "PointMatcher.h"
40 #include "ErrorMinimizersImpl.h"
41 
42 template <typename T>
44 {
49 
50  typedef typename PointMatcher<T>::Matrix Matrix;
57  typedef typename PointMatcher<T>::Vector Vector;
58 
59  inline static const std::string description()
60  {
61  return "Point-to-point error. Based on SVD decomposition. Based on \\cite{Besl1992Point2Point}. Covariance estimation based on \\cite{Censi2007ICPCovariance}.";
62  }
63 
64  inline static const ParametersDoc availableParameters()
65  {
66  return {
67  {"sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>}
68  };
69  }
70 
71  const T sensorStdDev;
73 
75  virtual TransformationParameters compute(const ErrorElements& mPts);
76  virtual Matrix getCovariance() const;
78 };
79 
80 #endif //LIBPOINTMATCHER_POINTTOPOINTWITHCOV_H
PointToPointWithCovErrorMinimizer::DataPoints
PointMatcher< T >::DataPoints DataPoints
Definition: PointToPointWithCov.h:53
PointToPointWithCovErrorMinimizer::estimateCovariance
Matrix estimateCovariance(const ErrorElements &mPts, const TransformationParameters &transformation)
Definition: PointToPointWithCov.cpp:62
PointToPointWithCovErrorMinimizer::PointToPointWithCovErrorMinimizer
PointToPointWithCovErrorMinimizer(const Parameters &params=Parameters())
Definition: PointToPointWithCov.cpp:43
PointMatcher::OutlierWeights
Matrix OutlierWeights
Weights of the associations between the points in Matches and the points in the reference.
Definition: PointMatcher.h:397
PointToPointErrorMinimizer::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: PointToPoint.h:46
build_map.T
T
Definition: build_map.py:34
PointToPointWithCovErrorMinimizer::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: PointToPointWithCov.h:45
PointToPointWithCovErrorMinimizer::OutlierWeights
PointMatcher< T >::OutlierWeights OutlierWeights
Definition: PointToPointWithCov.h:54
PointToPointWithCovErrorMinimizer::getCovariance
virtual Matrix getCovariance() const
If not redefined by child class, return zero matrix.
Definition: PointToPointWithCov.cpp:148
PointToPointWithCovErrorMinimizer::ErrorMinimizer
PointMatcher< T >::ErrorMinimizer ErrorMinimizer
Definition: PointToPointWithCov.h:56
PointToPointWithCovErrorMinimizer::covMatrix
Matrix covMatrix
Definition: PointToPointWithCov.h:72
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
PointToPointWithCovErrorMinimizer::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: PointToPointWithCov.h:48
PointToPointWithCovErrorMinimizer::description
static const std::string description()
Definition: PointToPointWithCov.h:59
ErrorMinimizersImpl.h
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointToPointWithCovErrorMinimizer::compute
virtual TransformationParameters compute(const ErrorElements &mPts)
Find the transformation that minimizes the error given matched pair of points. This function most be ...
Definition: PointToPointWithCov.cpp:50
PointMatcher::ErrorMinimizer::ErrorElements
A structure holding data ready for minimization. The data are "normalized", for instance there are no...
Definition: PointMatcher.h:533
PointMatcherSupport::Parametrizable::ParametersDoc
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
Definition: Parametrizable.h:187
align_sequence.params
params
Definition: align_sequence.py:13
PointToPointWithCovErrorMinimizer::P
PointMatcherSupport::Parametrizable P
Definition: PointToPointWithCov.h:46
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointToPointWithCovErrorMinimizer::Parameters
Parametrizable::Parameters Parameters
Definition: PointToPointWithCov.h:47
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PointMatcher::Matches
Result of the data-association step (Matcher::findClosests), before outlier rejection.
Definition: PointMatcher.h:371
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointToPointWithCovErrorMinimizer::Vector
PointMatcher< T >::Vector Vector
Definition: PointToPointWithCov.h:57
build_map.transformation
transformation
Definition: build_map.py:37
PointMatcher::ErrorMinimizer
An error minimizer will compute a transformation matrix such as to minimize the error between the rea...
Definition: PointMatcher.h:530
PointToPointWithCovErrorMinimizer::ErrorElements
PointMatcher< T >::ErrorMinimizer::ErrorElements ErrorElements
Definition: PointToPointWithCov.h:52
PointToPointWithCovErrorMinimizer::Matches
PointMatcher< T >::Matches Matches
Definition: PointToPointWithCov.h:55
PointMatcher.h
public interface
PointToPointErrorMinimizer::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: PointToPoint.h:48
PointToPointErrorMinimizer
Definition: PointToPoint.h:42
PointToPointWithCovErrorMinimizer::availableParameters
static const ParametersDoc availableParameters()
Definition: PointToPointWithCov.h:64
PointToPointWithCovErrorMinimizer
Definition: PointToPointWithCov.h:43
PointToPointWithCovErrorMinimizer::Matrix
PointMatcher< T >::Matrix Matrix
Definition: PointToPointWithCov.h:50
PointToPointErrorMinimizer::Parameters
Parametrizable::Parameters Parameters
Definition: PointToPoint.h:45
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
PointToPointWithCovErrorMinimizer::sensorStdDev
const T sensorStdDev
Definition: PointToPointWithCov.h:71
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182
PointToPointWithCovErrorMinimizer::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: PointToPointWithCov.h:51


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