Functions and classes that are dependant on scalar type are defined in this templatized class. More...
#include <PointMatcher.h>
Classes | |
| struct | ConvergenceError |
| Point matcher did not converge. More... | |
| struct | DataPoints |
| A point cloud. More... | |
| struct | DataPointsFilter |
| A data filter takes a point cloud as input, transforms it, and produces another point cloud as output. More... | |
| struct | DataPointsFilters |
| A chain of DataPointsFilter. More... | |
| struct | ErrorMinimizer |
| An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More... | |
| struct | ICP |
| ICP algorithm. More... | |
| struct | ICPChainBase |
| Stuff common to all ICP algorithms. More... | |
| struct | ICPSequence |
| ICP alogrithm, taking a sequence of clouds and using a map Warning: used with caution, you need to set the map manually. More... | |
| struct | Inspector |
| An inspector allows to log data at the different steps, for analysis. More... | |
| struct | Matcher |
| A matcher links points in the reading to points in the reference. More... | |
| struct | Matches |
| Result of the data-association step (Matcher::findClosests), before outlier rejection. More... | |
| struct | OutlierFilter |
| An outlier filter removes or weights links between points in reading and their matched points in reference, depending on some criteria. More... | |
| struct | OutlierFilters |
| A chain of OutlierFilter. More... | |
| struct | Transformation |
| A function that transforms points and their descriptors given a transformation matrix. More... | |
| struct | TransformationChecker |
| A transformation checker can stop the iteration depending on some conditions. More... | |
| struct | TransformationCheckers |
| A chain of TransformationChecker. More... | |
| struct | Transformations |
| A chain of Transformation. More... | |
Public Types | |
| typedef T | ScalarType |
| The scalar type. | |
| typedef Eigen::Matrix< T, Eigen::Dynamic, 1 > | Vector |
| A vector over ScalarType. | |
| typedef std::vector< Vector, Eigen::aligned_allocator< Vector > > | VectorVector |
| A vector of vector over ScalarType, not a matrix. | |
| typedef Eigen::Quaternion< T > | Quaternion |
| A quaternion over ScalarType. | |
| typedef std::vector< Quaternion, Eigen::aligned_allocator< Quaternion > > | QuaternionVector |
| A vector of quaternions over ScalarType. | |
| typedef Eigen::Matrix< T, Eigen::Dynamic, Eigen::Dynamic > | Matrix |
| A dense matrix over ScalarType. | |
| typedef Eigen::Matrix< int, Eigen::Dynamic, Eigen::Dynamic > | IntMatrix |
| A dense integer matrix. | |
| typedef Eigen::Matrix< std::int64_t, Eigen::Dynamic, Eigen::Dynamic > | Int64Matrix |
| A dense signed 64-bits matrix. | |
| typedef Eigen::Array< T, Eigen::Dynamic, Eigen::Dynamic > | Array |
| A dense array over ScalarType. | |
| typedef Matrix | TransformationParameters |
| A matrix holding the parameters a transformation. More... | |
| typedef PointMatcherSupport::Parametrizable | Parametrizable |
| alias | |
| typedef Parametrizable::Parameters | Parameters |
| alias | |
| typedef Parametrizable::ParameterDoc | ParameterDoc |
| alias | |
| typedef Parametrizable::ParametersDoc | ParametersDoc |
| alias | |
| typedef Parametrizable::InvalidParameter | InvalidParameter |
| alias | |
| typedef Matrix | OutlierWeights |
| Weights of the associations between the points in Matches and the points in the reference. More... | |
| typedef Transformations::iterator | TransformationsIt |
| alias | |
| typedef Transformations::const_iterator | TransformationsConstIt |
| alias | |
| typedef DataPointsFilters::iterator | DataPointsFiltersIt |
| alias | |
| typedef DataPointsFilters::const_iterator | DataPointsFiltersConstIt |
| alias | |
| typedef OutlierFilters::const_iterator | OutlierFiltersConstIt |
| alias | |
| typedef OutlierFilters::iterator | OutlierFiltersIt |
| alias | |
| typedef TransformationCheckers::iterator | TransformationCheckersIt |
| alias | |
| typedef TransformationCheckers::const_iterator | TransformationCheckersConstIt |
| alias | |
Public Member Functions | |
| PointMatcher () | |
| Constructor, populates the registrars. | |
Static Public Member Functions | |
| static void | swapDataPoints (DataPoints &a, DataPoints &b) |
| Exchange in place point clouds a and b, with no data copy. | |
| static const PointMatcher & | get () |
| Return instances. | |
Detailed Description
template<typename T>
struct PointMatcher< T >
Functions and classes that are dependant on scalar type are defined in this templatized class.
Member Typedef Documentation
◆ OutlierWeights
template<typename T>
| typedef Matrix PointMatcher< T >::OutlierWeights |
Weights of the associations between the points in Matches and the points in the reference.
A weight of 0 means no association, while a weight of 1 means a complete trust in association.
◆ TransformationParameters
template<typename T>
| typedef Matrix PointMatcher< T >::TransformationParameters |
A matrix holding the parameters a transformation.
The transformation lies in the special Euclidean group of dimension 
, 
, implemented as a dense matrix of size 
over ScalarType.
The documentation for this struct was generated from the following files:
- PointMatcher.h
- DataPoints.cpp
- Registry.cpp
