#include <icpPointToPoint.h>

Inheritance diagram for IcpPointToPoint:

Public Member Functions
	IcpPointToPoint (double *M, const int32_t M_num, const int32_t M_dim)

virtual	~IcpPointToPoint ()

void	forceInstantResult (bool val)

void	giveOutputIfNotConverged (bool val)

void	setSubsamplingStep (int32_t val)

void	setMaxIterations (int32_t val)

void	setMinDeltaParam (double val)

void	setEventTimeCheck (bool val)

double	fit (double *T, const int32_t T_num, Matrix &R, Matrix &t, const double indist)

double	getFitnessScore ()

double	computeFitnessRMSE (const double *T, const Matrix &R, const Matrix &t)

double	computeFitnessR2 (const double *T, const Matrix &R, const Matrix &t)

bool	hasConverged ()

int32_t	getInterations ()

Protected Attributes
kdtree::KDTree *	M_tree

kdtree::KDTreeArray	M_data

double *	M_

int32_t	dim

int32_t	sub_step

int32_t	max_iter

int32_t	T_num

int32_t	iterations

double	min_delta

double	current_delta

double	euclidean_fitness

bool	hasConvergedBool

bool	checkEventTime

bool	giveOutputIfNotConvergedB

bool	instantForce

Private Member Functions
double	fitInstant (double *T, const int32_t T_num, Matrix &R, Matrix &t, const std::vector< int32_t > &active)

double	fitStep (double *T, const int32_t T_num, Matrix &R, Matrix &t, const std::vector< int32_t > &active)

std::vector< int32_t >	getInliers (double *T, const int32_t T_num, const Matrix &R, const Matrix &t, const double indist)

Detailed Description

Definition at line 26 of file icpPointToPoint.h.

Constructor & Destructor Documentation

IcpPointToPoint::IcpPointToPoint	(	double *	M,
		const int32_t	M_num,
		const int32_t	M_dim
	)

inline

Definition at line 30 of file icpPointToPoint.h.

30 : Icp(M,M_num,M_dim) {}

Icp::Icp

Icp(double *M, const int32_t M_num, const int32_t dim)

virtual IcpPointToPoint::~IcpPointToPoint ( )

inlinevirtual

Definition at line 31 of file icpPointToPoint.h.

31 {}

Member Function Documentation

double Icp::computeFitnessR2	(	const double *	T,
		const Matrix &	R,
		const Matrix &	t
	)

inherited

double Icp::computeFitnessRMSE	(	const double *	T,
		const Matrix &	R,
		const Matrix &	t
	)

inherited

double Icp::fit	(	double *	T,
		const int32_t	T_num,
		Matrix &	R,
		Matrix &	t,
		const double	indist
	)

inherited

Referenced by PndLmdSensorAligner::calculateMatrix().

double IcpPointToPoint::fitInstant	(	double *	T,
		const int32_t	T_num,
		Matrix &	R,
		Matrix &	t,
		const std::vector< int32_t > &	active
	)

privatevirtual

Implements Icp.

double IcpPointToPoint::fitStep	(	double *	T,
		const int32_t	T_num,
		Matrix &	R,
		Matrix &	t,
		const std::vector< int32_t > &	active
	)

privatevirtual

Implements Icp.

void Icp::forceInstantResult ( bool val )

inlineinherited

Definition at line 47 of file icp.h.

References Icp::instantForce, and val.

Referenced by PndLmdSensorAligner::calculateMatrix().

47 { instantForce = val; }

val

Double_t val[nBoxes][nFEBox]

Definition: createCalib.C:11

Icp::instantForce

bool instantForce

Definition: icp.h:113

double Icp::getFitnessScore ( )

inherited

Referenced by PndLmdSensorAligner::calculateMatrix().

std::vector<int32_t> IcpPointToPoint::getInliers	(	double *	T,
		const int32_t	T_num,
		const Matrix &	R,
		const Matrix &	t,
		const double	indist
	)

privatevirtual

Implements Icp.

int32_t Icp::getInterations ( )

inlineinherited

Definition at line 80 of file icp.h.

References Icp::iterations.

Referenced by PndLmdSensorAligner::calculateMatrix().

                           {
           return iterations;
   }

void Icp::giveOutputIfNotConverged ( bool val )

inlineinherited

Definition at line 50 of file icp.h.

References Icp::giveOutputIfNotConvergedB, and val.

50 { giveOutputIfNotConvergedB = val; }

val

Double_t val[nBoxes][nFEBox]

Definition: createCalib.C:11

Icp::giveOutputIfNotConvergedB

bool giveOutputIfNotConvergedB

Definition: icp.h:112

bool Icp::hasConverged ( )

inlineinherited

Definition at line 77 of file icp.h.

References Icp::hasConvergedBool.

Referenced by PndLmdSensorAligner::calculateMatrix().

                      {
           return hasConvergedBool;
   }

void Icp::setEventTimeCheck ( bool val )

inlineinherited

Definition at line 61 of file icp.h.

References Icp::checkEventTime, and val.

61 { checkEventTime = val; }

val

Double_t val[nBoxes][nFEBox]

Definition: createCalib.C:11

Icp::checkEventTime

bool checkEventTime

Definition: icp.h:111

void Icp::setMaxIterations ( int32_t val )

inlineinherited

Definition at line 56 of file icp.h.

References Icp::max_iter, and val.

56 { max_iter = val; }

val

Double_t val[nBoxes][nFEBox]

Definition: createCalib.C:11

Icp::max_iter

int32_t max_iter

Definition: icp.h:104

void Icp::setMinDeltaParam ( double val )

inlineinherited

Definition at line 59 of file icp.h.

References Icp::min_delta, and val.

59 { min_delta = val; }

val

Double_t val[nBoxes][nFEBox]

Definition: createCalib.C:11

Icp::min_delta

double min_delta

Definition: icp.h:107

void Icp::setSubsamplingStep ( int32_t val )

inlineinherited

Definition at line 53 of file icp.h.

References Icp::sub_step, and val.

53 { sub_step = val; }

val

Double_t val[nBoxes][nFEBox]

Definition: createCalib.C:11

Icp::sub_step

int32_t sub_step

Definition: icp.h:103

Member Data Documentation

bool Icp::checkEventTime

protectedinherited

Definition at line 111 of file icp.h.

Referenced by Icp::setEventTimeCheck().

double Icp::current_delta

protectedinherited

Definition at line 108 of file icp.h.

int32_t Icp::dim

protectedinherited

Definition at line 102 of file icp.h.

double Icp::euclidean_fitness

protectedinherited

Definition at line 109 of file icp.h.

bool Icp::giveOutputIfNotConvergedB

protectedinherited

Definition at line 112 of file icp.h.

Referenced by Icp::giveOutputIfNotConverged().

bool Icp::hasConvergedBool

protectedinherited

Definition at line 110 of file icp.h.

Referenced by Icp::hasConverged().

bool Icp::instantForce

protectedinherited

Definition at line 113 of file icp.h.

Referenced by Icp::forceInstantResult().

int32_t Icp::iterations

protectedinherited

Definition at line 106 of file icp.h.

Referenced by Icp::getInterations().

double* Icp::M_

protectedinherited

Definition at line 100 of file icp.h.

kdtree::KDTreeArray Icp::M_data

protectedinherited

Definition at line 99 of file icp.h.

kdtree::KDTree* Icp::M_tree

protectedinherited

Definition at line 98 of file icp.h.

int32_t Icp::max_iter

protectedinherited

Definition at line 104 of file icp.h.

Referenced by Icp::setMaxIterations().

double Icp::min_delta

protectedinherited

Definition at line 107 of file icp.h.

Referenced by Icp::setMinDeltaParam().

int32_t Icp::sub_step

protectedinherited

Definition at line 103 of file icp.h.

Referenced by Icp::setSubsamplingStep().

int32_t Icp::T_num

protectedinherited

Definition at line 105 of file icp.h.

The documentation for this class was generated from the following file:

icpPointToPoint.h

Public Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation