Transformation.cpp
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3 /*
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 #include "PointMatcher.h"
37 #include "PointMatcherPrivate.h"
38 
40 template<typename T>
42 {}
43 
45 template<typename T>
47  Parametrizable(className,paramsDoc,params)
48 {}
49 
51 template<typename T>
53 {}
54 
57 
58 
60 template<typename T>
62 {
63  // There is no chain per se, the current API is very confusing. Normally,
64  // if this object is initialized correctly, there is one single iteration
65  // to be done, just the type of the transform changes.
66  // TODO: This API must be re-written to not even have the concept
67  // of chain for this classs.
68  int num_iter = 0;
69  for (TransformationsConstIt it = this->begin(); it != this->end(); ++it)
70  {
71  (*it)->inPlaceCompute(parameters, cloud);
72  num_iter++;
73  }
74  if (num_iter != 1)
75  throw std::runtime_error("Transformations: Error, the transform should have been applied just once.");
76 }
77 
PointMatcher::Transformations
A chain of Transformation.
Definition: PointMatcher.h:425
PointMatcher
Functions and classes that are dependant on scalar type are defined in this templatized class.
Definition: PointMatcher.h:130
PointMatcherPrivate.h
PointMatcher::DataPoints
A point cloud.
Definition: PointMatcher.h:207
testing::internal::string
::std::string string
Definition: gtest.h:1979
PointMatcher::Transformation
A function that transforms points and their descriptors given a transformation matrix.
Definition: PointMatcher.h:404
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
PointMatcherSupport::Parametrizable
The superclass of classes that are constructed using generic parameters. This class provides the para...
Definition: Parametrizable.h:141
PointMatcher::Transformations::apply
void apply(DataPoints &cloud, const TransformationParameters &parameters) const
Apply this chain to cloud, using parameters, mutates cloud.
Definition: Transformation.cpp:61
PointMatcher::Transformation::~Transformation
virtual ~Transformation()
virtual destructor
Definition: Transformation.cpp:52
PointMatcher::Transformation::Transformation
Transformation()
Construct without parameter.
Definition: Transformation.cpp:41
build_map.end
end
Definition: build_map.py:79
PointMatcher.h
public interface
PointMatcher::TransformationsConstIt
Transformations::const_iterator TransformationsConstIt
alias
Definition: PointMatcher.h:430
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


libpointmatcher
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autogenerated on Mon Jan 1 2024 03:24:43