Stuff common to all ICP algorithms. More...

Inheritance diagram for PointMatcher< T >::ICPChainBase:

Public Member Functions
virtual	~ICPChainBase ()
	virtual desctructor

virtual void	setDefault ()
	Construct an ICP algorithm that works in most of the cases.

void	loadFromYaml (std::istream &in)
	Construct an ICP algorithm from a YAML file.

unsigned	getPrefilteredReadingPtsCount () const
	Return the remaining number of points in reading after prefiltering but before the iterative process.

unsigned	getPrefilteredReferencePtsCount () const
	Return the remaining number of points in the reference after prefiltering but before the iterative process.

bool	getMaxNumIterationsReached () const
	Return the flag that informs if we reached the maximum number of iterations during the last iterative process.

template<typename R >
const std::string &	createModulesFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules)
	Instantiate modules if their names are in the YAML file.

template<typename R >
const std::string &	createModuleFromRegistrar (const std::string &regName, const YAML::Node &doc, const R &registrar, std::shared_ptr< typename R::TargetType > &module)
	Instantiate a module if its name is in the YAML file.

Public Attributes
DataPointsFilters	readingDataPointsFilters
	filters for reading, applied once

DataPointsFilters	readingStepDataPointsFilters
	filters for reading, applied at each step

DataPointsFilters	referenceDataPointsFilters
	filters for reference

Transformations	transformations
	transformations

std::shared_ptr< Matcher >	matcher
	matcher

OutlierFilters	outlierFilters
	outlier filters

std::shared_ptr< ErrorMinimizer >	errorMinimizer
	error minimizer

TransformationCheckers	transformationCheckers
	transformation checkers

std::shared_ptr< Inspector >	inspector
	inspector

Protected Member Functions
	ICPChainBase ()
	Protected contstructor, to prevent the creation of this object.

void	cleanup ()
	Clean chain up, empty all filters and delete associated objects.

virtual void	loadAdditionalYAMLContent (PointMatcherSupport::YAML::Node &doc)
	Hook to load addition subclass-specific content from the YAML file.

template<typename R >
const std::string &	createModulesFromRegistrar (const std::string &regName, const PointMatcherSupport::YAML::Node &doc, const R &registrar, std::vector< std::shared_ptr< typename R::TargetType > > &modules)
	Instantiate modules if their names are in the YAML file.

template<typename R >
const std::string &	createModuleFromRegistrar (const std::string &regName, const PointMatcherSupport::YAML::Node &doc, const R &registrar, std::shared_ptr< typename R::TargetType > &module)
	Instantiate a module if its name is in the YAML file.

std::string	nodeVal (const std::string &regName, const PointMatcherSupport::YAML::Node &doc)
	Get the value of a field in a node.

Protected Attributes
unsigned	prefilteredReadingPtsCount
	remaining number of points after prefiltering but before the iterative process

unsigned	prefilteredReferencePtsCount
	remaining number of points after prefiltering but before the iterative process

bool	maxNumIterationsReached
	store if we reached the maximum number of iterations last time compute was called

Detailed Description

Stuff common to all ICP algorithms.

The documentation for this struct was generated from the following files:

Public Member Functions