TransformationCheckersImpl.h
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5 Copyright (c) 2010--2012,
6 Fran├žois Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
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35 
36 #ifndef __POINTMATCHER_TRANSFORMATIONCHECKERS_H
37 #define __POINTMATCHER_TRANSFORMATIONCHECKERS_H
38 
39 #include "PointMatcher.h"
40 
41 template<typename T>
43 {
49 
52  typedef typename PointMatcher<T>::Vector Vector;
56  typedef typename PointMatcher<T>::Matrix Matrix;
57 
59  {
62 
63  inline static const std::string description()
64  {
65  return "This checker stops the ICP loop after a certain number of iterations.";
66  }
67  inline static const ParametersDoc availableParameters()
68  {
69  return {
70  {"maxIterationCount", "maximum number of iterations ", "40", "0", "2147483647", &P::Comp<unsigned>}
71  };
72  }
73 
74  const unsigned maxIterationCount;
75 
77  virtual void init(const TransformationParameters& parameters, bool& iterate);
78  virtual void check(const TransformationParameters& parameters, bool& iterate);
79  };
80 
82  {
83  inline static const std::string description()
84  {
85  return "This checker stops the ICP loop when the relative motions (i.e. abs(currentIter - lastIter)) of rotation and translation components are below a fix thresholds. This allows to stop the iteration when the point cloud is stabilized. Smoothing can be applied to avoid oscillations. Inspired by \\cite{Chetverikov2002Trimmed}.";
86  }
87  inline static const ParametersDoc availableParameters()
88  {
89  return {
90  {"minDiffRotErr", "threshold for rotation error (radian)", "0.001", "0.", "6.2831854", &P::Comp<T>},
91  {"minDiffTransErr", "threshold for translation error", "0.001", "0.", "inf", &P::Comp<T>},
92  {"smoothLength", "number of iterations over which to average the differencial error", "3", "0", "2147483647", &P::Comp<unsigned>}
93  };
94  }
95 
98  const unsigned int smoothLength;
99 
100  protected:
103 
104  public:
106 
107  virtual void init(const TransformationParameters& parameters, bool& iterate);
108  virtual void check(const TransformationParameters& parameters, bool& iterate);
109  };
110 
112  {
113  inline static const std::string description()
114  {
115  return "This checker stops the ICP loop with an exception when the transformation values exceed bounds.";
116  }
117  inline static const ParametersDoc availableParameters()
118  {
119  return {
120  {"maxRotationNorm", "rotation bound", "1", "0", "inf", &P::Comp < T > },
121  {"maxTranslationNorm", "translation bound", "1", "0", "inf", &P::Comp < T > }
122  };
123  }
124 
127 
128  protected:
132 
133  public:
134  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
136  virtual void init(const TransformationParameters& parameters, bool& iterate);
137  virtual void check(const TransformationParameters& parameters, bool& iterate);
138  };
139 }; // TransformationCheckersImpl
140 
141 #endif // __POINTMATCHER_TRANSFORMATIONCHECKERS_H
TransformationCheckersImpl
Definition: TransformationCheckersImpl.h:42
TransformationCheckersImpl::CounterTransformationChecker::MaxNumIterationsReached
Struct used to inform through an exeption that ICP reached max number of iterations.
Definition: TransformationCheckersImpl.h:61
PointMatcher::VectorVector
std::vector< Vector, Eigen::aligned_allocator< Vector > > VectorVector
A vector of vector over ScalarType, not a matrix.
Definition: PointMatcher.h:163
TransformationCheckersImpl::BoundTransformationChecker::initialRotation3D
Quaternion initialRotation3D
Definition: TransformationCheckersImpl.h:129
build_map.T
T
Definition: build_map.py:34
TransformationCheckersImpl::CounterTransformationChecker::check
virtual void check(const TransformationParameters &parameters, bool &iterate)
Set iterate to false if iteration should stop.
Definition: TransformationCheckersImpl.cpp:64
TransformationCheckersImpl::BoundTransformationChecker::availableParameters
static const ParametersDoc availableParameters()
Definition: TransformationCheckersImpl.h:117
TransformationCheckersImpl::Vector
PointMatcher< T >::Vector Vector
Definition: TransformationCheckersImpl.h:52
TransformationCheckersImpl::BoundTransformationChecker::check
virtual void check(const TransformationParameters &parameters, bool &iterate)
Set iterate to false if iteration should stop.
Definition: TransformationCheckersImpl.cpp:198
TransformationCheckersImpl::BoundTransformationChecker::initialTranslation
Vector initialTranslation
Definition: TransformationCheckersImpl.h:131
TransformationCheckersImpl::CounterTransformationChecker::CounterTransformationChecker
CounterTransformationChecker(const Parameters &params=Parameters())
Definition: TransformationCheckersImpl.cpp:46
TransformationCheckersImpl::QuaternionVector
PointMatcher< T >::QuaternionVector QuaternionVector
Definition: TransformationCheckersImpl.h:55
TransformationCheckersImpl::ParameterDoc
Parametrizable::ParameterDoc ParameterDoc
Definition: TransformationCheckersImpl.h:47
PointMatcher::QuaternionVector
std::vector< Quaternion, Eigen::aligned_allocator< Quaternion > > QuaternionVector
A vector of quaternions over ScalarType.
Definition: PointMatcher.h:167
testing::internal::string
::std::string string
Definition: gtest.h:1979
TransformationCheckersImpl::DifferentialTransformationChecker::init
virtual void init(const TransformationParameters &parameters, bool &iterate)
Init, set iterate to false if iteration should stop.
Definition: TransformationCheckersImpl.cpp:103
TransformationCheckersImpl::ParametersDoc
Parametrizable::ParametersDoc ParametersDoc
Definition: TransformationCheckersImpl.h:48
TransformationCheckersImpl::Quaternion
PointMatcher< T >::Quaternion Quaternion
Definition: TransformationCheckersImpl.h:54
TransformationCheckersImpl::BoundTransformationChecker::initialRotation2D
T initialRotation2D
Definition: TransformationCheckersImpl.h:130
TransformationCheckersImpl::BoundTransformationChecker::maxTranslationNorm
const T maxTranslationNorm
Definition: TransformationCheckersImpl.h:126
TransformationCheckersImpl::DifferentialTransformationChecker
Definition: TransformationCheckersImpl.h:81
TransformationCheckersImpl::DifferentialTransformationChecker::minDiffTransErr
const T minDiffTransErr
Definition: TransformationCheckersImpl.h:97
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
TransformationCheckersImpl::VectorVector
PointMatcher< T >::VectorVector VectorVector
Definition: TransformationCheckersImpl.h:53
TransformationCheckersImpl::Matrix
PointMatcher< T >::Matrix Matrix
Definition: TransformationCheckersImpl.h:56
PointMatcherSupport::Parametrizable::parameters
Parameters parameters
parameters with their values encoded in string
Definition: Parametrizable.h:204
PointMatcher::Matrix
Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > Matrix
A dense matrix over ScalarType.
Definition: PointMatcher.h:169
PointMatcher::TransformationChecker
A transformation checker can stop the iteration depending on some conditions.
Definition: PointMatcher.h:583
TransformationCheckersImpl::TransformationParameters
PointMatcher< T >::TransformationParameters TransformationParameters
Definition: TransformationCheckersImpl.h:51
TransformationCheckersImpl::CounterTransformationChecker::availableParameters
static const ParametersDoc availableParameters()
Definition: TransformationCheckersImpl.h:67
PointMatcher::Vector
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
TransformationCheckersImpl::BoundTransformationChecker::BoundTransformationChecker
EIGEN_MAKE_ALIGNED_OPERATOR_NEW BoundTransformationChecker(const Parameters &params=Parameters())
Definition: TransformationCheckersImpl.cpp:167
TransformationCheckersImpl::TransformationChecker
PointMatcher< T >::TransformationChecker TransformationChecker
Definition: TransformationCheckersImpl.h:50
TransformationCheckersImpl::DifferentialTransformationChecker::description
static const std::string description()
Definition: TransformationCheckersImpl.h:83
TransformationCheckersImpl::CounterTransformationChecker::description
static const std::string description()
Definition: TransformationCheckersImpl.h:63
TransformationCheckersImpl::CounterTransformationChecker
Definition: TransformationCheckersImpl.h:58
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
TransformationCheckersImpl::P
PointMatcherSupport::Parametrizable P
Definition: TransformationCheckersImpl.h:45
TransformationCheckersImpl::BoundTransformationChecker
Definition: TransformationCheckersImpl.h:111
PointMatcherSupport::Parametrizable::ParameterDoc
The documentation of a parameter.
Definition: Parametrizable.h:160
TransformationCheckersImpl::BoundTransformationChecker::description
static const std::string description()
Definition: TransformationCheckersImpl.h:113
TransformationCheckersImpl::CounterTransformationChecker::init
virtual void init(const TransformationParameters &parameters, bool &iterate)
Init, set iterate to false if iteration should stop.
Definition: TransformationCheckersImpl.cpp:58
TransformationCheckersImpl::DifferentialTransformationChecker::translations
VectorVector translations
Definition: TransformationCheckersImpl.h:102
TransformationCheckersImpl::CounterTransformationChecker::maxIterationCount
const unsigned maxIterationCount
Definition: TransformationCheckersImpl.h:74
PointMatcher.h
public interface
TransformationCheckersImpl::DifferentialTransformationChecker::availableParameters
static const ParametersDoc availableParameters()
Definition: TransformationCheckersImpl.h:87
TransformationCheckersImpl::DifferentialTransformationChecker::DifferentialTransformationChecker
DifferentialTransformationChecker(const Parameters &params=Parameters())
Definition: TransformationCheckersImpl.cpp:85
TransformationCheckersImpl::Parameters
Parametrizable::Parameters Parameters
Definition: TransformationCheckersImpl.h:46
TransformationCheckersImpl::DifferentialTransformationChecker::minDiffRotErr
const T minDiffRotErr
Definition: TransformationCheckersImpl.h:96
TransformationCheckersImpl::Parametrizable
PointMatcherSupport::Parametrizable Parametrizable
Definition: TransformationCheckersImpl.h:44
TransformationCheckersImpl::DifferentialTransformationChecker::check
virtual void check(const TransformationParameters &parameters, bool &iterate)
Set iterate to false if iteration should stop.
Definition: TransformationCheckersImpl.cpp:127
PointMatcher::Quaternion
Eigen::Quaternion< T > Quaternion
A quaternion over ScalarType.
Definition: PointMatcher.h:165
PointMatcherSupport::Parametrizable::Parameters
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Definition: Parametrizable.h:199
TransformationCheckersImpl::BoundTransformationChecker::init
virtual void init(const TransformationParameters &parameters, bool &iterate)
Init, set iterate to false if iteration should stop.
Definition: TransformationCheckersImpl.cpp:183
PointMatcher::TransformationParameters
Matrix TransformationParameters
A matrix holding the parameters a transformation.
Definition: PointMatcher.h:182
TransformationCheckersImpl::DifferentialTransformationChecker::rotations
QuaternionVector rotations
Definition: TransformationCheckersImpl.h:101
TransformationCheckersImpl::DifferentialTransformationChecker::smoothLength
const unsigned int smoothLength
Definition: TransformationCheckersImpl.h:98
TransformationCheckersImpl::BoundTransformationChecker::maxRotationNorm
const T maxRotationNorm
Definition: TransformationCheckersImpl.h:125


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