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) |
| Find the transformation that minimizes the error. | |
| virtual TransformationParameters | compute (const ErrorElements &matchedPoints)=0 |
| Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer. | |
| 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. | |
| ErrorElements | getErrorElements () const |
| Return the last the ErrorElements structure that was used for error minimization. | |
| 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. | |
| virtual T | getResidualError (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches) const |
| If not redefined by child class, return max value for T. | |
| T | getWeightedPointUsedRatio () const |
| Return the ratio of how many points were used (with weight) for error minimization. | |
| virtual | ~ErrorMinimizer () |
| virtual destructor | |
Static Public 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 | |
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 519 of file PointMatcher.h.
Constructor & Destructor Documentation
| PointMatcher< T >::ErrorMinimizer::ErrorMinimizer | ( | ) |
Construct without parameter.
Definition at line 202 of file ErrorMinimizer.cpp.
| PointMatcher< T >::ErrorMinimizer::ErrorMinimizer | ( | const std::string & | className, |
| const ParametersDoc | paramsDoc, | ||
| const Parameters & | params | ||
| ) |
Construct with parameters.
Definition at line 207 of file ErrorMinimizer.cpp.
| PointMatcher< T >::ErrorMinimizer::~ErrorMinimizer | ( | ) | [virtual] |
virtual destructor
Definition at line 213 of file ErrorMinimizer.cpp.
Member Function Documentation
| PointMatcher< T >::TransformationParameters PointMatcher< T >::ErrorMinimizer::compute | ( | const DataPoints & | filteredReading, |
| const DataPoints & | filteredReference, | ||
| const OutlierWeights & | outlierWeights, | ||
| const Matches & | matches | ||
| ) | [virtual] |
Find the transformation that minimizes the error.
Definition at line 218 of file ErrorMinimizer.cpp.
| virtual TransformationParameters PointMatcher< T >::ErrorMinimizer::compute | ( | const ErrorElements & | matchedPoints | ) | [pure virtual] |
Find the transformation that minimizes the error given matched pair of points. This function most be defined for all new instances of ErrorMinimizer.
Implemented in PointToPlaneWithCovErrorMinimizer< T >, PointToPlaneErrorMinimizer< T >, PointToPointWithCovErrorMinimizer< T >, PointToPointErrorMinimizer< T >, PointToPointSimilarityErrorMinimizer< T >, and IdentityErrorMinimizer< T >.
| PointMatcher< T >::Matrix PointMatcher< T >::ErrorMinimizer::crossProduct | ( | const Matrix & | A, |
| const Matrix & | B | ||
| ) | [static] |
Helper funtion doing the cross product in 3D and a pseudo cross product in 2D.
Definition at line 282 of file ErrorMinimizer.cpp.
| PointMatcher< T >::Matrix PointMatcher< T >::ErrorMinimizer::getCovariance | ( | ) | const [virtual] |
If not redefined by child class, return zero matrix.
Reimplemented in PointToPlaneWithCovErrorMinimizer< T >, and PointToPointWithCovErrorMinimizer< T >.
Definition at line 266 of file ErrorMinimizer.cpp.
| PointMatcher< T >::ErrorMinimizer::ErrorElements PointMatcher< T >::ErrorMinimizer::getErrorElements | ( | ) | const |
Return the last the ErrorElements structure that was used for error minimization.
Definition at line 243 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 PointToPlaneErrorMinimizer< T >, PointToPointErrorMinimizer< T >, and PointToPointSimilarityErrorMinimizer< T >.
Definition at line 258 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 236 of file ErrorMinimizer.cpp.
| T PointMatcher< T >::ErrorMinimizer::getResidualError | ( | const DataPoints & | filteredReading, |
| const DataPoints & | filteredReference, | ||
| const OutlierWeights & | outlierWeights, | ||
| const Matches & | matches | ||
| ) | const [virtual] |
If not redefined by child class, return max value for T.
Reimplemented in PointToPlaneErrorMinimizer< T >, PointToPointErrorMinimizer< T >, and PointToPointSimilarityErrorMinimizer< T >.
Definition at line 274 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 251 of file ErrorMinimizer.cpp.
Member Data Documentation
ErrorElements PointMatcher< T >::ErrorMinimizer::lastErrorElements [protected] |
memory of the last computed error
Definition at line 560 of file PointMatcher.h.
The documentation for this struct was generated from the following files: