ErrorMinimizersImpl.h
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00001 // kate: replace-tabs off; indent-width 4; indent-mode normal
00002 // vim: ts=4:sw=4:noexpandtab
00003 /*
00004 
00005 Copyright (c) 2010--2012,
00006 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
00007 You can contact the authors at <f dot pomerleau at gmail dot com> and
00008 <stephane at magnenat dot net>
00009 
00010 All rights reserved.
00011 
00012 Redistribution and use in source and binary forms, with or without
00013 modification, are permitted provided that the following conditions are met:
00014     * Redistributions of source code must retain the above copyright
00015       notice, this list of conditions and the following disclaimer.
00016     * Redistributions in binary form must reproduce the above copyright
00017       notice, this list of conditions and the following disclaimer in the
00018       documentation and/or other materials provided with the distribution.
00019     * Neither the name of the <organization> nor the
00020       names of its contributors may be used to endorse or promote products
00021       derived from this software without specific prior written permission.
00022 
00023 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00024 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00025 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00026 DISCLAIMED. IN NO EVENT SHALL ETH-ASL BE LIABLE FOR ANY
00027 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00028 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00030 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00031 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00032 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00033 
00034 */
00035 
00036 #ifndef __POINTMATCHER_ERRORMINIMIZERS_H
00037 #define __POINTMATCHER_ERRORMINIMIZERS_H
00038 
00039 #include "PointMatcher.h"
00040 
00041 template<typename T>
00042 struct ErrorMinimizersImpl
00043 {
00044         typedef PointMatcherSupport::Parametrizable Parametrizable;
00045         typedef PointMatcherSupport::Parametrizable P;
00046         typedef Parametrizable::Parameters Parameters;
00047         typedef Parametrizable::ParameterDoc ParameterDoc;
00048         typedef Parametrizable::ParametersDoc ParametersDoc;
00049         
00050         typedef typename PointMatcher<T>::DataPoints DataPoints;
00051         typedef typename PointMatcher<T>::Matches Matches;
00052         typedef typename PointMatcher<T>::OutlierWeights OutlierWeights;
00053         typedef typename PointMatcher<T>::ErrorMinimizer ErrorMinimizer;
00054         typedef typename PointMatcher<T>::TransformationParameters TransformationParameters;
00055         typedef typename PointMatcher<T>::Vector Vector;
00056         typedef typename PointMatcher<T>::Matrix Matrix;
00057         
00058         struct IdentityErrorMinimizer: ErrorMinimizer
00059         {
00060                 inline static const std::string description()
00061                 {
00062                         return "Does nothing.";
00063                 }
00064                 
00065                 virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
00066         };
00067 
00068         struct PointToPointErrorMinimizer: ErrorMinimizer
00069         {
00070                 inline static const std::string description()
00071                 {
00072                         return "Point-to-point error. Based on SVD decomposition. Based on \\cite{Besl1992Point2Point}.";
00073                 }
00074                 
00075                 virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
00076                 virtual T getOverlap() const;
00077         };
00078 
00079         struct PointToPlaneErrorMinimizer: public ErrorMinimizer
00080         {
00081                 inline static const std::string description()
00082                 {
00083                         return "Point-to-plane error (or point-to-line in 2D). Based on \\cite{Chen1991Point2Plane}";
00084                 }
00085                 
00086                 inline static const ParametersDoc availableParameters()
00087                 {
00088                         return boost::assign::list_of<ParameterDoc>
00089                                 ( "force2D", "If set to true(1), the minimization will be force to give a solution in 2D (i.e., on the XY-plane) even with 3D inputs.", "0", "0", "1", &P::Comp<bool>)
00090                         ;
00091                 }
00092 
00093                 const bool force2D;
00094                 
00095                 PointToPlaneErrorMinimizer(const Parameters& params = Parameters());
00096                 virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
00097                 virtual T getOverlap() const;
00098         };
00099 
00100         struct PointToPointWithCovErrorMinimizer: ErrorMinimizer
00101         {
00102                 inline static const std::string description()
00103                 {
00104                         return "Point-to-point error. Based on SVD decomposition. Based on \\cite{Besl1992Point2Point}. Covariance estimation based on \\cite{Censi2007ICPCovariance}.";
00105                 }
00106 
00107                 inline static const ParametersDoc availableParameters()
00108                 {
00109                         return boost::assign::list_of<ParameterDoc>
00110                                 ( "sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>)
00111                         ;
00112                 }
00113 
00114             const T sensorStdDev;
00115                 Matrix covMatrix;
00116 
00117                 PointToPointWithCovErrorMinimizer(const Parameters& params = Parameters());
00118                 virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
00119                 virtual T getOverlap() const;
00120                 virtual Matrix getCovariance() const;
00121                 Matrix estimateCovariance(const DataPoints& reading, const DataPoints& reference, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationParameters& transformation);
00122         };
00123 
00124         struct PointToPlaneWithCovErrorMinimizer: public ErrorMinimizer
00125         {
00126                 inline static const std::string description()
00127                 {
00128                         return "Point-to-plane error (or point-to-line in 2D). Based on \\cite{Chen1991Point2Plane}. Covariance estimation based on \\cite{Censi2007ICPCovariance}.";
00129                 }
00130                 
00131                 inline static const ParametersDoc availableParameters()
00132                 {
00133                         return boost::assign::list_of<ParameterDoc>
00134                                 ( "force2D", "If set to true(1), the minimization will be force to give a solution in 2D (i.e., on the XY-plane) even with 3D inputs.", "0", "0", "1", &P::Comp<bool>)
00135                                 ( "sensorStdDev", "sensor standard deviation", "0.01", "0.", "inf", &P::Comp<T>)
00136                         ;
00137                 }
00138 
00139                 const bool force2D;
00140             const T sensorStdDev;
00141                 Matrix covMatrix;
00142                 
00143                 PointToPlaneWithCovErrorMinimizer(const Parameters& params = Parameters());
00144                 virtual TransformationParameters compute(const DataPoints& filteredReading, const DataPoints& filteredReference, const OutlierWeights& outlierWeights, const Matches& matches);
00145                 virtual T getOverlap() const;
00146                 virtual Matrix getCovariance() const;
00147                 Matrix estimateCovariance(const DataPoints& reading, const DataPoints& reference, const Matches& matches, const OutlierWeights& outlierWeights, const TransformationParameters& transformation);
00148         };
00149 }; // ErrorMinimizersImpl
00150 
00151 #endif // __POINTMATCHER_ERRORMINIMIZER_H


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autogenerated on Mon Sep 14 2015 02:59:04