Icp Class Reference

#include <icp.h>

Inheritance diagram for Icp:

Public Member Functions
	Icp (double *M, const int32_t M_num, const int32_t dim)
virtual	~Icp ()
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
bool	fitIterate (double *T, const int32_t T_num, Matrix &R, Matrix &t, const std::vector< int32_t > &active)
virtual double	fitInstant (double *T, const int32_t T_num, Matrix &R, Matrix &t, const std::vector< int32_t > &active)=0
virtual double	fitStep (double *T, const int32_t T_num, Matrix &R, Matrix &t, const std::vector< int32_t > &active)=0
virtual std::vector< int32_t >	getInliers (double *T, const int32_t T_num, const Matrix &R, const Matrix &t, const double indist)=0

Detailed Description

Definition at line 33 of file icp.h.

Constructor & Destructor Documentation

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

virtual Icp::~Icp ( )

virtual

Member Function Documentation

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

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

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

Referenced by PndLmdSensorAligner::calculateMatrix().

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

privatepure virtual

Implemented in IcpPointToPoint.

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

private

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

privatepure virtual

Implemented in IcpPointToPoint.

void Icp::forceInstantResult ( bool  val )

inline

Definition at line 47 of file icp.h.

References instantForce, and val.

Referenced by PndLmdSensorAligner::calculateMatrix().

{ instantForce = val; }

double Icp::getFitnessScore

(

)

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

privatepure virtual

Implemented in IcpPointToPoint.

int32_t Icp::getInterations ( )

inline

Definition at line 80 of file icp.h.

References iterations.

Referenced by PndLmdSensorAligner::calculateMatrix().

                          {
          return iterations;
  }

void Icp::giveOutputIfNotConverged ( bool  val )

inline

Definition at line 50 of file icp.h.

References giveOutputIfNotConvergedB, and val.

{ giveOutputIfNotConvergedB = val; }

bool Icp::hasConverged ( )

inline

Definition at line 77 of file icp.h.

References hasConvergedBool.

Referenced by PndLmdSensorAligner::calculateMatrix().

                     {
          return hasConvergedBool;
  }

void Icp::setEventTimeCheck ( bool  val )

inline

Definition at line 61 of file icp.h.

References checkEventTime, and val.

{ checkEventTime = val; }

void Icp::setMaxIterations ( int32_t  val )

inline

Definition at line 56 of file icp.h.

References max_iter, and val.

{ max_iter  = val; }

void Icp::setMinDeltaParam ( double  val )

inline

Definition at line 59 of file icp.h.

References min_delta, and val.

{ min_delta = val; }

void Icp::setSubsamplingStep ( int32_t  val )

inline

Definition at line 53 of file icp.h.

References sub_step, and val.

{ sub_step  = val; }

Member Data Documentation

bool Icp::checkEventTime

protected

Definition at line 111 of file icp.h.

Referenced by setEventTimeCheck().

double Icp::current_delta

protected

Definition at line 108 of file icp.h.

int32_t Icp::dim

protected

Definition at line 102 of file icp.h.

double Icp::euclidean_fitness

protected

Definition at line 109 of file icp.h.

bool Icp::giveOutputIfNotConvergedB

protected

Definition at line 112 of file icp.h.

Referenced by giveOutputIfNotConverged().

bool Icp::hasConvergedBool

protected

Definition at line 110 of file icp.h.

Referenced by hasConverged().

bool Icp::instantForce

protected

Definition at line 113 of file icp.h.

Referenced by forceInstantResult().

int32_t Icp::iterations

protected

Definition at line 106 of file icp.h.

Referenced by getInterations().

double* Icp::M_

protected

Definition at line 100 of file icp.h.

kdtree::KDTreeArray Icp::M_data

protected

Definition at line 99 of file icp.h.

kdtree::KDTree* Icp::M_tree

protected

Definition at line 98 of file icp.h.

int32_t Icp::max_iter

protected

Definition at line 104 of file icp.h.

Referenced by setMaxIterations().

double Icp::min_delta

protected

Definition at line 107 of file icp.h.

Referenced by setMinDeltaParam().

int32_t Icp::sub_step

protected

Definition at line 103 of file icp.h.

Referenced by setSubsamplingStep().

int32_t Icp::T_num

protected

Definition at line 105 of file icp.h.

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

• icp.h