libpointmatcher 1.0.2
Classes | Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes
PointMatcher< T >::ErrorMinimizer Struct Reference

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:
PointMatcherSupport::Parametrizable

List of all members.

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.
virtual ~ErrorMinimizer ()
 virtual destructor
getPointUsedRatio () const
 Return the ratio of how many points were used for error minimization.
getWeightedPointUsedRatio () const
 Return the ratio of how many points were used (with weight) 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 TransformationParameters compute (const DataPoints &filteredReading, const DataPoints &filteredReference, const OutlierWeights &outlierWeights, const Matches &matches)=0
 Find the transformation that minimizes the error.

Protected Member Functions

ErrorElementsgetMatchedPoints (const DataPoints &reading, const DataPoints &reference, const Matches &matches, const OutlierWeights &outlierWeights)
 Helper function outputting pair of points from the reference and the reading based on the matching matrix.

Static Protected 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.

Protected Attributes

pointUsedRatio
 the ratio of how many points were used for error minimization
weightedPointUsedRatio
 the ratio of how many points were used (with weight) for error minimization
ErrorElements lastErrorElements
 memory of the last computed error

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: