Registry.cpp
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1 // vim: ts=4:sw=4:noexpandtab
2 /*
3 
4 Copyright (c) 2010--2012,
5 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
6 You can contact the authors at <f dot pomerleau at gmail dot com> and
7 <stephane at magnenat dot net>
8 
9 All rights reserved.
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31 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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33 */
34 
35 #include "PointMatcher.h"
36 #include "PointMatcherPrivate.h"
37 
38 #include "LoggerImpl.h"
39 #include "TransformationsImpl.h"
40 #include "DataPointsFiltersImpl.h"
41 #include "MatchersImpl.h"
42 #include "OutlierFiltersImpl.h"
43 #include "ErrorMinimizersImpl.h"
45 #include "InspectorsImpl.h"
46 
47 #include <cassert>
48 #include <iostream>
49 #include <limits>
50 
51 using namespace std;
52 using namespace PointMatcherSupport;
53 
55 InvalidElement::InvalidElement(const std::string& reason):
56  runtime_error(reason)
57 {}
58 
60 template<typename T>
62 {
66 
97 
100  ADD_TO_REGISTRAR(Matcher, KDTreeVarDistMatcher, typename MatchersImpl<T>::KDTreeVarDistMatcher)
101 
111 
118 
122 
126 
129 }
130 
131 // static instances plus wrapper function to get them from templatized static method in PointMatcher
132 
135 
136 template<typename T>
137 const PointMatcher<T>& _getPM();
138 
139 template<>
141 template<>
143 
145 template<typename T>
147 {
148  return _getPM<T>();
149 }
150 
SimpleSensorNoiseDataPointsFilter
Sick LMS-xxx noise model.
Definition: SimpleSensorNoise.h:41
DataPointsFiltersImpl::AddDescriptorDataPointsFilter
::AddDescriptorDataPointsFilter< T > AddDescriptorDataPointsFilter
Definition: DataPointsFiltersImpl.h:74
FixStepSamplingDataPointsFilter
Systematic sampling, with variation over time.
Definition: FixStepSampling.h:41
PointToPointSimilarityErrorMinimizer
Definition: PointToPointSimilarity.h:42
ErrorMinimizersImpl::PointToPointWithCovErrorMinimizer
::PointToPointWithCovErrorMinimizer< T > PointToPointWithCovErrorMinimizer
Definition: ErrorMinimizersImpl.h:53
OutlierFiltersImpl::SurfaceNormalOutlierFilter
Definition: OutlierFiltersImpl.h:176
_PointMatcherDouble
PointMatcher< double > _PointMatcherDouble
Definition: Registry.cpp:134
DataPointsFiltersImpl::IdentityDataPointsFilter
::IdentityDataPointsFilter< T > IdentityDataPointsFilter
Definition: DataPointsFiltersImpl.h:73
OutlierFiltersImpl::GenericDescriptorOutlierFilter
Definition: OutlierFiltersImpl.h:196
DataPointsFiltersImpl::FixStepSamplingDataPointsFilter
::FixStepSamplingDataPointsFilter< T > FixStepSamplingDataPointsFilter
Definition: DataPointsFiltersImpl.h:87
PointMatcherSupport::FileLogger
Definition: LoggerImpl.h:55
DataPointsFilter
PM::DataPointsFilter DataPointsFilter
Definition: pypoint_matcher_helper.h:22
LoggerImpl.h
BoundingBoxDataPointsFilter
Subsampling. Remove point laying in a bounding box.
Definition: BoundingBox.h:41
_PointMatcherFloat
PointMatcher< float > _PointMatcherFloat
Definition: Registry.cpp:133
OrientNormalsDataPointsFilter
Reorientation of normals.
Definition: OrientNormals.h:41
DistanceLimitDataPointsFilter
Subsampling. Filter points based on distance measured on a specific axis.
Definition: DistanceLimit.h:41
MaxQuantileOnAxisDataPointsFilter
Subsampling. Filter points beyond a maximum quantile measured on a specific axis.
Definition: MaxQuantileOnAxis.h:41
InspectorsImpl::PerformanceInspector
Definition: InspectorsImpl.h:72
DataPointsFiltersImpl::SpectralDecompositionDataPointsFilter
::SpectralDecompositionDataPointsFilter< T > SpectralDecompositionDataPointsFilter
Definition: DataPointsFiltersImpl.h:102
DataPointsFiltersImpl::MaxDistDataPointsFilter
::MaxDistDataPointsFilter< T > MaxDistDataPointsFilter
Definition: DataPointsFiltersImpl.h:76
MinDistDataPointsFilter
Subsampling. Filter points before a minimum distance measured on a specific axis.
Definition: MinDist.h:41
OutlierFiltersImpl.h
IdentityErrorMinimizer
Definition: ErrorMinimizers/Identity.h:42
ObservationDirectionDataPointsFilter
Extract observation direction.
Definition: ObservationDirection.h:41
RemoveSensorBiasDataPointsFilter
Definition: RemoveSensorBias.h:41
Matcher
PM::Matcher Matcher
Definition: pypoint_matcher_helper.h:24
ADD_TO_REGISTRAR
#define ADD_TO_REGISTRAR(name, elementName, element)
Definition: Registrar.h:206
PointMatcher< float >
PointMatcherPrivate.h
PointMatcherSupport::Logger
The logger interface, used to output warnings and informations.
Definition: PointMatcher.h:104
DataPointsFiltersImpl::ShadowDataPointsFilter
::ShadowDataPointsFilter< T > ShadowDataPointsFilter
Definition: DataPointsFiltersImpl.h:88
DataPointsFiltersImpl::SimpleSensorNoiseDataPointsFilter
::SimpleSensorNoiseDataPointsFilter< T > SimpleSensorNoiseDataPointsFilter
Definition: DataPointsFiltersImpl.h:89
DataPointsFiltersImpl::RemoveNaNDataPointsFilter
::RemoveNaNDataPointsFilter< T > RemoveNaNDataPointsFilter
Definition: DataPointsFiltersImpl.h:75
MaxDistDataPointsFilter
Subsampling. Filter points beyond a maximum distance measured on a specific axis.
Definition: MaxDist.h:41
ADD_TO_REGISTRAR_NO_PARAM
#define ADD_TO_REGISTRAR_NO_PARAM(name, elementName, element)
Definition: Registrar.h:210
OutlierFiltersImpl::NullOutlierFilter
Definition: OutlierFiltersImpl.h:59
DataPointsFiltersImpl::ObservationDirectionDataPointsFilter
::ObservationDirectionDataPointsFilter< T > ObservationDirectionDataPointsFilter
Definition: DataPointsFiltersImpl.h:90
_getPM< float >
const PointMatcher< float > & _getPM< float >()
Definition: Registry.cpp:140
ErrorMinimizersImpl.h
testing::internal::string
::std::string string
Definition: gtest.h:1979
OutlierFiltersImpl::MaxDistOutlierFilter
Definition: OutlierFiltersImpl.h:70
GestaltDataPointsFilter
Gestalt descriptors filter as described in Bosse & Zlot ICRA 2013.
Definition: Gestalt.h:41
SurfaceNormalDataPointsFilter
Surface normals estimation. Find the normal for every point using eigen-decomposition of neighbour po...
Definition: SurfaceNormal.h:43
SaliencyDataPointsFilter
Definition: Saliency.h:40
PointMatcher::Transformation
A function that transforms points and their descriptors given a transformation matrix.
Definition: PointMatcher.h:404
_getPM
const PointMatcher< T > & _getPM()
SphericalityDataPointsFilter
Definition: Sphericality.h:50
DataPointsFiltersImpl::SurfaceNormalDataPointsFilter
::SurfaceNormalDataPointsFilter< T > SurfaceNormalDataPointsFilter
Definition: DataPointsFiltersImpl.h:81
DataPointsFiltersImpl::VoxelGridDataPointsFilter
::VoxelGridDataPointsFilter< T > VoxelGridDataPointsFilter
Definition: DataPointsFiltersImpl.h:91
_getPM< double >
const PointMatcher< double > & _getPM< double >()
Definition: Registry.cpp:142
TransformationCheckersImpl::DifferentialTransformationChecker
Definition: TransformationCheckersImpl.h:81
DataPointsFiltersImpl::IncidenceAngleDataPointsFilter
::IncidenceAngleDataPointsFilter< T > IncidenceAngleDataPointsFilter
Definition: DataPointsFiltersImpl.h:84
OutlierFiltersImpl::MedianDistOutlierFilter
Definition: OutlierFiltersImpl.h:109
TransformationChecker
PM::TransformationChecker TransformationChecker
Definition: pypoint_matcher_helper.h:29
DataPointsFiltersImpl::MaxPointCountDataPointsFilter
::MaxPointCountDataPointsFilter< T > MaxPointCountDataPointsFilter
Definition: DataPointsFiltersImpl.h:86
OctreeGridDataPointsFilter
Data Filter based on Octree representation.
Definition: OctreeGrid.h:54
DataPointsFiltersImpl::OctreeGridDataPointsFilter
::OctreeGridDataPointsFilter< T > OctreeGridDataPointsFilter
Definition: DataPointsFiltersImpl.h:95
TransformationsImpl::PureTranslation
Definition: TransformationsImpl.h:82
DataPointsFiltersImpl::SaliencyDataPointsFilter
::SaliencyDataPointsFilter< T > SaliencyDataPointsFilter
Definition: DataPointsFiltersImpl.h:101
DataPointsFiltersImpl::NormalSpaceDataPointsFilter
::NormalSpaceDataPointsFilter< T > NormalSpaceDataPointsFilter
Definition: DataPointsFiltersImpl.h:96
PointMatcher::PointMatcher
PointMatcher()
Constructor, populates the registrars.
Definition: Registry.cpp:61
PointToPlaneErrorMinimizer
Definition: PointToPlane.h:42
ErrorMinimizersImpl::IdentityErrorMinimizer
::IdentityErrorMinimizer< T > IdentityErrorMinimizer
Definition: ErrorMinimizersImpl.h:55
TransformationsImpl::SimilarityTransformation
Definition: TransformationsImpl.h:68
OutlierFiltersImpl::TrimmedDistOutlierFilter
Definition: OutlierFiltersImpl.h:128
ElipsoidsDataPointsFilter
Subsampling Surfels (Elipsoids) filter. First decimate the space until there is at most knn points,...
Definition: Elipsoids.h:41
DataPointsFiltersImpl::MinDistDataPointsFilter
::MinDistDataPointsFilter< T > MinDistDataPointsFilter
Definition: DataPointsFiltersImpl.h:77
MatchersImpl.h
AddDescriptorDataPointsFilter
Add new descriptor to an existing point cloud.
Definition: AddDescriptor.h:10
VoxelGridDataPointsFilter
Definition: VoxelGrid.h:40
SamplingSurfaceNormalDataPointsFilter
Sampling surface normals. First decimate the space until there is at most knn points,...
Definition: SamplingSurfaceNormal.h:41
RandomSamplingDataPointsFilter
Random sampling.
Definition: RandomSampling.h:43
OutlierFiltersImpl::MinDistOutlierFilter
Definition: OutlierFiltersImpl.h:90
OutlierFiltersImpl::RobustOutlierFilter
Definition: OutlierFiltersImpl.h:223
DataPointsFiltersImpl::SphericalityDataPointsFilter
::SphericalityDataPointsFilter< T > SphericalityDataPointsFilter
Definition: DataPointsFiltersImpl.h:100
TransformationsImpl::RigidTransformation
Definition: TransformationsImpl.h:54
SpectralDecompositionDataPointsFilter
Definition: SpectralDecomposition.h:49
IncidenceAngleDataPointsFilter
Incidence angle, compute the incidence angle of a surface normal with the observation direction.
Definition: IncidenceAngle.h:41
IdentityDataPointsFilter
IdentityDataPointsFilter, does nothing.
Definition: DataPointsFilters/Identity.h:41
RemoveNaNDataPointsFilter
Remove points having NaN as coordinate.
Definition: RemoveNaN.h:41
DataPointsFiltersImpl::GestaltDataPointsFilter
::GestaltDataPointsFilter< T > GestaltDataPointsFilter
Definition: DataPointsFiltersImpl.h:94
PointToPlaneWithCovErrorMinimizer
Definition: PointToPlaneWithCov.h:43
ErrorMinimizersImpl::PointToPointSimilarityErrorMinimizer
::PointToPointSimilarityErrorMinimizer< T > PointToPointSimilarityErrorMinimizer
Definition: ErrorMinimizersImpl.h:54
TransformationsImpl.h
MatchersImpl::KDTreeMatcher
Definition: MatchersImpl.h:74
PointMatcherSupport::NullLogger
Definition: LoggerImpl.h:44
DataPointsFiltersImpl::ElipsoidsDataPointsFilter
::ElipsoidsDataPointsFilter< T > ElipsoidsDataPointsFilter
Definition: DataPointsFiltersImpl.h:93
DataPointsFiltersImpl::SamplingSurfaceNormalDataPointsFilter
::SamplingSurfaceNormalDataPointsFilter< T > SamplingSurfaceNormalDataPointsFilter
Definition: DataPointsFiltersImpl.h:82
DataPointsFiltersImpl::MaxDensityDataPointsFilter
::MaxDensityDataPointsFilter< T > MaxDensityDataPointsFilter
Definition: DataPointsFiltersImpl.h:80
Inspector
PM::Inspector Inspector
Definition: pypoint_matcher_helper.h:31
TransformationCheckersImpl::CounterTransformationChecker
Definition: TransformationCheckersImpl.h:58
CovarianceSamplingDataPointsFilter
Definition: CovarianceSampling.h:40
DataPointsFiltersImpl::OrientNormalsDataPointsFilter
::OrientNormalsDataPointsFilter< T > OrientNormalsDataPointsFilter
Definition: DataPointsFiltersImpl.h:83
DataPointsFiltersImpl::MaxQuantileOnAxisDataPointsFilter
::MaxQuantileOnAxisDataPointsFilter< T > MaxQuantileOnAxisDataPointsFilter
Definition: DataPointsFiltersImpl.h:79
std
MaxDensityDataPointsFilter
Subsampling. Reduce the points number by randomly removing points with a dentsity higher than a tresh...
Definition: MaxDensity.h:41
OutlierFiltersImpl::VarTrimmedDistOutlierFilter
Definition: OutlierFiltersImpl.h:147
DataPointsFiltersImpl::RandomSamplingDataPointsFilter
::RandomSamplingDataPointsFilter< T > RandomSamplingDataPointsFilter
Definition: DataPointsFiltersImpl.h:85
DataPointsFiltersImpl::DistanceLimitDataPointsFilter
::DistanceLimitDataPointsFilter< T > DistanceLimitDataPointsFilter
Definition: DataPointsFiltersImpl.h:98
TransformationCheckersImpl::BoundTransformationChecker
Definition: TransformationCheckersImpl.h:111
ErrorMinimizersImpl::PointToPointErrorMinimizer
::PointToPointErrorMinimizer< T > PointToPointErrorMinimizer
Definition: ErrorMinimizersImpl.h:52
DataPointsFiltersImpl::CutAtDescriptorThresholdDataPointsFilter
::CutAtDescriptorThresholdDataPointsFilter< T > CutAtDescriptorThresholdDataPointsFilter
Definition: DataPointsFiltersImpl.h:92
TransformationCheckersImpl.h
InspectorsImpl.h
CutAtDescriptorThresholdDataPointsFilter
Subsampling. Cut points with value of a given descriptor above or below a given threshold.
Definition: CutAtDescriptorThreshold.h:43
InspectorsImpl::VTKFileInspector
Definition: InspectorsImpl.h:158
PointMatcher::get
static const PointMatcher & get()
Return instances.
Definition: Registry.cpp:146
MaxPointCountDataPointsFilter
Maximum number of points.
Definition: MaxPointCount.h:41
DataPointsFiltersImpl::BoundingBoxDataPointsFilter
::BoundingBoxDataPointsFilter< T > BoundingBoxDataPointsFilter
Definition: DataPointsFiltersImpl.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
PointMatcherSupport
Functions and classes that are not dependant on scalar type are defined in this namespace.
Definition: Bibliography.cpp:45
ErrorMinimizersImpl::PointToPlaneWithCovErrorMinimizer
::PointToPlaneWithCovErrorMinimizer< T > PointToPlaneWithCovErrorMinimizer
Definition: ErrorMinimizersImpl.h:51
ShadowDataPointsFilter
Shadow filter, remove ghost points appearing on edges.
Definition: Shadow.h:41
DataPointsFiltersImpl::CovarianceSamplingDataPointsFilter
::CovarianceSamplingDataPointsFilter< T > CovarianceSamplingDataPointsFilter
Definition: DataPointsFiltersImpl.h:97
MatchersImpl::KDTreeVarDistMatcher
Definition: MatchersImpl.h:105
PointMatcher.h
public interface
DataPointsFiltersImpl.h
InspectorsImpl::NullInspector
Definition: InspectorsImpl.h:60
PointToPointErrorMinimizer
Definition: PointToPoint.h:42
OutlierFilter
PM::OutlierFilter OutlierFilter
Definition: pypoint_matcher_helper.h:25
MatchersImpl::NullMatcher
Definition: MatchersImpl.h:62
PointToPointWithCovErrorMinimizer
Definition: PointToPointWithCov.h:43
ErrorMinimizersImpl::PointToPlaneErrorMinimizer
::PointToPlaneErrorMinimizer< T > PointToPlaneErrorMinimizer
Definition: ErrorMinimizersImpl.h:50
NormalSpaceDataPointsFilter
Definition: NormalSpace.h:40
DataPointsFiltersImpl::RemoveSensorBiasDataPointsFilter
::RemoveSensorBiasDataPointsFilter< T > RemoveSensorBiasDataPointsFilter
Definition: DataPointsFiltersImpl.h:99


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