libpointmatcher 1.0.2
Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes
PointMatcher< T >::ICPChainBase Struct Reference

Stuff common to all ICP algorithms. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICPChainBase:
PointMatcher< T >::ICP PointMatcher< T >::ICPSequence

List of all members.

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.

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< Matchermatcher
 matcher
OutlierFilters outlierFilters
 outlier filters
std::shared_ptr< ErrorMinimizererrorMinimizer
 error minimizer
TransformationCheckers transformationCheckers
 transformation checkers
std::shared_ptr< Inspectorinspector
 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 (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 YAML::Node &doc, const R &registrar, PointMatcherSupport::SharedPtrVector< 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.

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

Detailed Description

template<typename T>
struct PointMatcher< T >::ICPChainBase

Stuff common to all ICP algorithms.


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