PointMatcher.h File Reference

public interface More...

#include "Eigen/StdVector"
#include "Eigen/Core"
#include "Eigen/Geometry"
#include <boost/thread/mutex.hpp>
#include <stdexcept>
#include <limits>
#include <iostream>
#include <ostream>
#include <memory>
#include <boost/cstdint.hpp>
#include "DeprecationWarnings.h"
#include "Parametrizable.h"
#include "Registrar.h"

Go to the source code of this file.

Classes
struct	PointMatcherSupport::InvalidModuleType
	An exception thrown when one tries to use a module type that does not exist. More...
struct	PointMatcherSupport::TransformationError
	An expection thrown when a transformation has invalid parameters. More...
struct	PointMatcherSupport::Logger
	The logger interface, used to output warnings and informations. More...
struct	PointMatcher< T >
	Functions and classes that are dependant on scalar type are defined in this templatized class. More...
struct	PointMatcher< T >::ConvergenceError
	Point matcher did not converge. More...
struct	PointMatcher< T >::DataPoints
	A point cloud. More...
struct	PointMatcher< T >::DataPoints::Label
	The name for a certain number of dim. More...
struct	PointMatcher< T >::DataPoints::Labels
	A vector of Label. More...
struct	PointMatcher< T >::DataPoints::InvalidField
	An exception thrown when one tries to access features or descriptors unexisting or of wrong dimensions. More...
struct	PointMatcher< T >::Matches
	Result of the data-association step (Matcher::findClosests), before outlier rejection. More...
struct	PointMatcher< T >::Transformation
	A function that transforms points and their descriptors given a transformation matrix. More...
struct	PointMatcher< T >::Transformations
	A chain of Transformation. More...
struct	PointMatcher< T >::DataPointsFilter
	A data filter takes a point cloud as input, transforms it, and produces another point cloud as output. More...
struct	PointMatcher< T >::DataPointsFilters
	A chain of DataPointsFilter. More...
struct	PointMatcher< T >::Matcher
	A matcher links points in the reading to points in the reference. More...
struct	PointMatcher< T >::OutlierFilter
	An outlier filter removes or weights links between points in reading and their matched points in reference, depending on some criteria. More...
struct	PointMatcher< T >::OutlierFilters
	A chain of OutlierFilter. More...
struct	PointMatcher< T >::ErrorMinimizer
	An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More...
struct	PointMatcher< T >::ErrorMinimizer::ErrorElements
	A structure holding data ready for minimization. The data are "normalized", for instance there are no points with 0 weight, etc. More...
struct	PointMatcher< T >::TransformationChecker
	A transformation checker can stop the iteration depending on some conditions. More...
struct	PointMatcher< T >::TransformationCheckers
	A chain of TransformationChecker. More...
struct	PointMatcher< T >::Inspector
	An inspector allows to log data at the different steps, for analysis. More...
struct	PointMatcher< T >::ICPChainBase
	Stuff common to all ICP algorithms. More...
struct	PointMatcher< T >::ICP
	ICP algorithm. More...
struct	PointMatcher< T >::ICPSequence
	ICP alogrithm, taking a sequence of clouds and using a map Warning: used with caution, you need to set the map manually. More...

Namespaces
	PointMatcherSupport
	Functions and classes that are not dependant on scalar type are defined in this namespace.

Macros
#define	EIGEN_NO_DEBUG
#define	POINTMATCHER_VERSION   "1.3.1"
	version of the Pointmatcher library as string
#define	POINTMATCHER_VERSION_INT   10301
	version of the Pointmatcher library as an int
#define	ZERO_PLUS_EPS   (0. + std::numeric_limits<double>::epsilon())
	The smallest value larger than 0.
#define	ONE_MINUS_EPS   (1. - std::numeric_limits<double>::epsilon())
	The largest value smaller than 1.

Typedefs
typedef std::map< std::string, std::vector< std::string > >	PointMatcherSupport::CsvElements
	Data from a CSV file.

Functions
void	PointMatcherSupport::setLogger (std::shared_ptr< Logger > newLogger)
	Set a new logger, protected by a mutex.
void	PointMatcherSupport::validateFile (const std::string &fileName)
	Throw a runtime_error exception if fileName cannot be opened.

Detailed Description

public interface