PointMatcher< T >::ICPChainBase Struct Reference

Stuff common to all ICP algorithms. More...

#include <PointMatcher.h>

Inheritance diagram for PointMatcher< T >::ICPChainBase:

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< Matcher >	matcher
	matcher
OutlierFilters	outlierFilters
	outlier filters
std::shared_ptr< ErrorMinimizer >	errorMinimizer
	error minimizer
TransformationCheckers	transformationCheckers
	transformation checkers
std::shared_ptr< Inspector >	inspector
	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

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Detailed Description

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

Stuff common to all ICP algorithms.

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

• PointMatcher.h
• ICP.cpp