An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More...
#include <PointMatcher.h>
Classes | |
| struct | ErrorElements |
| A structure holding data ready for minimization. The data are "normalized", for instance there are no points with 0 weight, etc. More... | |
Public Member Functions | |
| virtual TransformationParameters | compute (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches)=0 |
| Find the transformation that minimizes the error. | |
| ErrorMinimizer () | |
| Construct without parameter. | |
| ErrorMinimizer (const std::string &className, const ParametersDoc paramsDoc, const Parameters ¶ms) | |
| Construct with parameters. | |
| virtual Matrix | getCovariance () const |
| If not redefined by child class, return zero matrix. | |
| virtual T | getOverlap () const |
| If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization. | |
| T | getPointUsedRatio () const |
| Return the ratio of how many points were used for error minimization. | |
| T | getWeightedPointUsedRatio () const |
| Return the ratio of how many points were used (with weight) for error minimization. | |
| virtual | ~ErrorMinimizer () |
| virtual destructor | |
Protected Member Functions | |
| ErrorElements & | getMatchedPoints (const DataPoints &reading, const DataPoints &reference, const Matches &matches, const OutlierWeights &outlierWeights) |
Static Protected Member Functions | |
| static Matrix | crossProduct (const Matrix &A, const Matrix &B) |
| Helper funtion doing the cross product in 3D and a pseudo cross product in 2D. | |
Protected Attributes | |
| ErrorElements | lastErrorElements |
| memory of the last computed error | |
| T | pointUsedRatio |
| the ratio of how many points were used for error minimization | |
| T | weightedPointUsedRatio |
| the ratio of how many points were used (with weight) for error minimization | |
Detailed Description
template<typename T>
struct PointMatcher< T >::ErrorMinimizer
An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference.
Typical error minimized are point-to-point and point-to-plane.
Definition at line 462 of file PointMatcher.h.
Constructor & Destructor Documentation
| PointMatcher< T >::ErrorMinimizer::ErrorMinimizer | ( | ) |
Construct without parameter.
Definition at line 41 of file ErrorMinimizer.cpp.
| PointMatcher< T >::ErrorMinimizer::ErrorMinimizer | ( | const std::string & | className, |
| const ParametersDoc | paramsDoc, | ||
| const Parameters & | params | ||
| ) |
Construct with parameters.
Definition at line 48 of file ErrorMinimizer.cpp.
| PointMatcher< T >::ErrorMinimizer::~ErrorMinimizer | ( | ) | [virtual] |
virtual destructor
Definition at line 54 of file ErrorMinimizer.cpp.
Member Function Documentation
| virtual TransformationParameters PointMatcher< T >::ErrorMinimizer::compute | ( | const DataPoints & | filteredReading, |
| const DataPoints & | filteredReference, | ||
| const OutlierWeights & | outlierWeights, | ||
| const Matches & | matches | ||
| ) | [pure virtual] |
Find the transformation that minimizes the error.
Implemented in ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer, ErrorMinimizersImpl< T >::PointToPointWithCovErrorMinimizer, ErrorMinimizersImpl< T >::PointToPlaneErrorMinimizer, ErrorMinimizersImpl< T >::PointToPointErrorMinimizer, and ErrorMinimizersImpl< T >::IdentityErrorMinimizer.
| PointMatcher< T >::Matrix PointMatcher< T >::ErrorMinimizer::crossProduct | ( | const Matrix & | A, |
| const Matrix & | B | ||
| ) | [static, protected] |
Helper funtion doing the cross product in 3D and a pseudo cross product in 2D.
Definition at line 103 of file ErrorMinimizer.cpp.
| PointMatcher< T >::Matrix PointMatcher< T >::ErrorMinimizer::getCovariance | ( | ) | const [virtual] |
If not redefined by child class, return zero matrix.
Reimplemented in ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer, and ErrorMinimizersImpl< T >::PointToPointWithCovErrorMinimizer.
Definition at line 95 of file ErrorMinimizer.cpp.
| PointMatcher< T >::ErrorMinimizer::ErrorElements & PointMatcher< T >::ErrorMinimizer::getMatchedPoints | ( | const DataPoints & | requestedPts, |
| const DataPoints & | sourcePts, | ||
| const Matches & | matches, | ||
| const OutlierWeights & | outlierWeights | ||
| ) | [protected] |
Helper function outputting pair of points from the reference and the reading based on the matching matrix
Definition at line 143 of file ErrorMinimizer.cpp.
| T PointMatcher< T >::ErrorMinimizer::getOverlap | ( | ) | const [virtual] |
If not redefined by child class, return the ratio of how many points were used (with weight) for error minimization.
Reimplemented in ErrorMinimizersImpl< T >::PointToPlaneWithCovErrorMinimizer, ErrorMinimizersImpl< T >::PointToPointWithCovErrorMinimizer, ErrorMinimizersImpl< T >::PointToPlaneErrorMinimizer, and ErrorMinimizersImpl< T >::PointToPointErrorMinimizer.
Definition at line 87 of file ErrorMinimizer.cpp.
| T PointMatcher< T >::ErrorMinimizer::getPointUsedRatio | ( | ) | const |
Return the ratio of how many points were used for error minimization.
Definition at line 73 of file ErrorMinimizer.cpp.
| T PointMatcher< T >::ErrorMinimizer::getWeightedPointUsedRatio | ( | ) | const |
Return the ratio of how many points were used (with weight) for error minimization.
Definition at line 80 of file ErrorMinimizer.cpp.
Member Data Documentation
ErrorElements PointMatcher< T >::ErrorMinimizer::lastErrorElements [protected] |
memory of the last computed error
Definition at line 496 of file PointMatcher.h.
T PointMatcher< T >::ErrorMinimizer::pointUsedRatio [protected] |
the ratio of how many points were used for error minimization
Definition at line 494 of file PointMatcher.h.
T PointMatcher< T >::ErrorMinimizer::weightedPointUsedRatio [protected] |
the ratio of how many points were used (with weight) for error minimization
Definition at line 495 of file PointMatcher.h.
The documentation for this struct was generated from the following files: