An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More...
#include <PointMatcher.h>
Inheritance diagram for PointMatcher< T >::ErrorMinimizer:
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 | |
| ErrorMinimizer () | |
| Construct without parameter. | |
| ErrorMinimizer (const std::string &className, const ParametersDoc paramsDoc, const Parameters ¶ms) | |
| Construct with parameters. | |
| virtual | ~ErrorMinimizer () |
| virtual destructor | |
| 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. | |
| 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. | |
| virtual Matrix | getCovariance () const |
| If not redefined by child class, return zero matrix. | |
| 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. | |
| 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. | |
 Public Member Functions inherited from PointMatcherSupport::Parametrizable | |
| Parametrizable () | |
| Construct a documentation of parameters from a description in the source. More... | |
| Parametrizable (const std::string &className, const ParametersDoc paramsDoc, const Parameters ¶ms) | |
| Construct with documented parameters. | |
| virtual | ~Parametrizable () |
| Virtual destructor, do nothing. | |
| std::string | getParamValueString (const std::string ¶mName) |
| Get the value of a parameter, as a string. | |
| template<typename S > | |
| S | get (const std::string ¶mName) |
| Return the value of paramName, lexically-casted to S. | |
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. | |
| Static Public Member Functions inherited from PointMatcherSupport::Parametrizable | |
| template<typename S > | |
| static bool | Comp (std::string a, std::string b) |
| Return whether a < b, lexically casted to S. | |
Protected Attributes | |
| ErrorElements | lastErrorElements |
| memory of the last computed error | |
Additional Inherited Members | |
| Public Types inherited from PointMatcherSupport::Parametrizable | |
| typedef bool(* | LexicalComparison) (std::string a, std::string b) |
| A function that returns whether a is smaller than b. | |
| typedef std::vector< ParameterDoc > | ParametersDoc |
| The documentation of all parameters. | |
| typedef std::string | Parameter |
| alias | |
| typedef std::map< std::string, Parameter > | Parameters |
| Parameters stored as a map of string->string. | |
| typedef std::set< std::string > | ParametersUsed |
| Parameters whose value has been read. | |
| Public Attributes inherited from PointMatcherSupport::Parametrizable | |
| const std::string | className |
| name of the class | |
| const ParametersDoc | parametersDoc |
| documentation of parameters | |
| Parameters | parameters |
| parameters with their values encoded in string | |
| ParametersUsed | parametersUsed |
| parameters whose value has actually been read | |
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.
The documentation for this struct was generated from the following files:
- PointMatcher.h
- ErrorMinimizer.cpp
