libpointmatcher
1.0.2
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An error minimizer will compute a transformation matrix such as to minimize the error between the reading and the reference. More...
#include <PointMatcher.h>
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 | |
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. | |
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 | |
ErrorElements & | getMatchedPoints (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 | |
T | pointUsedRatio |
the ratio of how many points were used for error minimization | |
T | weightedPointUsedRatio |
the ratio of how many points were used (with weight) for error minimization | |
ErrorElements | lastErrorElements |
memory of the last computed error |
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.