A class that deals with the problem of determining the affine transformation matrix A between two sets of matching 3D points employing IpOpt. More...

#include <affinity.h>

Inheritance diagram for iCub::optimization::AffinityWithMatchedPoints:

Public Member Functions
	AffinityWithMatchedPoints ()
	Default Constructor.

virtual void	setBounds (const yarp::sig::Matrix &min, const yarp::sig::Matrix &max)
	Allow specifying the minimum and maximum bounds of the elements belonging to the affine transformation.

virtual bool	addPoints (const yarp::sig::Vector &p0, const yarp::sig::Vector &p1)
	Add to the internal database the 3D-point p0 and the 3D-point p1 which is supposed to correspond to A*p0, whose matrix A has to be found.

virtual size_t	getNumPoints () const
	Return the number of 3D-points pairs currently contained into the internal database.

virtual void	getPoints (std::deque< yarp::sig::Vector > &p0, std::deque< yarp::sig::Vector > &p1) const
	Retrieve copies of the database of 3D-points pairs.

virtual void	clearPoints ()
	Clear the internal database of 3D points.

virtual bool	setInitialGuess (const yarp::sig::Matrix &A)
	Allow specifiying the initial guess for the affine transformation matrix we seek for.

virtual bool	setCalibrationOptions (const yarp::os::Property &options)
	Allow setting further options used during calibration.

virtual bool	calibrate (yarp::sig::Matrix &A, double &error)
	Perform optimization to determine the affine matrix A.

virtual	~AffinityWithMatchedPoints ()
	Destructor.

Public Member Functions inherited from iCub::optimization::MatrixTransformationWithMatchedPoints
virtual	~MatrixTransformationWithMatchedPoints ()
	Destructor.

Protected Member Functions
double	evalError (const yarp::sig::Matrix &A)

Protected Attributes
yarp::sig::Matrix	min

yarp::sig::Matrix	max

yarp::sig::Matrix	A0

int	max_iter

double	tol

std::deque< yarp::sig::Vector >	p0

std::deque< yarp::sig::Vector >	p1

Detailed Description

A class that deals with the problem of determining the affine transformation matrix A between two sets of matching 3D points employing IpOpt.

Definition at line 50 of file affinity.h.

Constructor & Destructor Documentation

◆ AffinityWithMatchedPoints()

AffinityWithMatchedPoints::AffinityWithMatchedPoints ( )

Default Constructor.

Definition at line 229 of file affinity.cpp.

◆ ~AffinityWithMatchedPoints()

virtual iCub::optimization::AffinityWithMatchedPoints::~AffinityWithMatchedPoints ( )

inlinevirtual

Destructor.

Definition at line 141 of file affinity.h.

Member Function Documentation

◆ addPoints()

bool AffinityWithMatchedPoints::addPoints	(	const yarp::sig::Vector &	p0,
		const yarp::sig::Vector &	p1
	)

virtual

Add to the internal database the 3D-point p0 and the 3D-point p1 which is supposed to correspond to A*p0, whose matrix A has to be found.

Parameters

p0	the free 3D-point.
p1	the 3D-point which corresponds to A*p0.

Returns: true/false on success/fail.

Implements iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 281 of file affinity.cpp.

◆ calibrate()

bool AffinityWithMatchedPoints::calibrate	(	yarp::sig::Matrix &	A,
		double &	error
	)

virtual

Perform optimization to determine the affine matrix A.

Parameters

A	the final affine matrix that links the two clouds of 3D points.
error	returns the residual error computed as norm(p1[i]-A*p0[i]) over the whole set of points pairs.

Returns: true/false on success/fail.

Implements iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 341 of file affinity.cpp.

◆ clearPoints()

void AffinityWithMatchedPoints::clearPoints ( )

virtual

Clear the internal database of 3D points.

Implements iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 309 of file affinity.cpp.

◆ evalError()

double AffinityWithMatchedPoints::evalError ( const yarp::sig::Matrix & A )

protected

Definition at line 265 of file affinity.cpp.

◆ getNumPoints()

virtual size_t iCub::optimization::AffinityWithMatchedPoints::getNumPoints ( ) const

inlinevirtual

Return the number of 3D-points pairs currently contained into the internal database.

Returns: the number of pairs.

Implements iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 95 of file affinity.h.

◆ getPoints()

void AffinityWithMatchedPoints::getPoints	(	std::deque< yarp::sig::Vector > &	p0,
		std::deque< yarp::sig::Vector > &	p1
	)		const

virtual

Retrieve copies of the database of 3D-points pairs.

Parameters

p0	the list of free 3D-points.
p1	the list of 3D-points which correspond to A*p0.

Note: points are retrived in 4x1 homogeneous format.

Implements iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 300 of file affinity.cpp.

◆ setBounds()

void AffinityWithMatchedPoints::setBounds	(	const yarp::sig::Matrix &	min,
		const yarp::sig::Matrix &	max
	)

virtual

Allow specifying the minimum and maximum bounds of the elements belonging to the affine transformation.

Parameters

min	the 4x4 Matrix containining the minimum bounds.
max	the 4x4 Matrix containining the maximum bounds.

Note: the last row is always expected to be (0 0 0 1).

Implements iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 249 of file affinity.cpp.

◆ setCalibrationOptions()

bool AffinityWithMatchedPoints::setCalibrationOptions ( const yarp::os::Property & options )

virtual

Allow setting further options used during calibration.

Parameters

options a Property-like object accounting for calibration options.

Returns: true/false on success/fail.

Reimplemented from iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 328 of file affinity.cpp.

◆ setInitialGuess()

bool AffinityWithMatchedPoints::setInitialGuess ( const yarp::sig::Matrix & A )

virtual

Allow specifiying the initial guess for the affine transformation matrix we seek for.

Parameters

A	the 4x4 homogeneous matrix used as initial guess.

Returns: true/false on success/fail.

Implements iCub::optimization::MatrixTransformationWithMatchedPoints.

Definition at line 317 of file affinity.cpp.

Member Data Documentation

◆ A0

yarp::sig::Matrix iCub::optimization::AffinityWithMatchedPoints::A0

protected

Definition at line 54 of file affinity.h.

◆ max

yarp::sig::Matrix iCub::optimization::AffinityWithMatchedPoints::max

protected

Definition at line 53 of file affinity.h.

◆ max_iter

int iCub::optimization::AffinityWithMatchedPoints::max_iter

protected

Definition at line 56 of file affinity.h.

◆ min

yarp::sig::Matrix iCub::optimization::AffinityWithMatchedPoints::min

protected

Definition at line 53 of file affinity.h.

◆ p0

std::deque<yarp::sig::Vector> iCub::optimization::AffinityWithMatchedPoints::p0

protected

Definition at line 59 of file affinity.h.

◆ p1

std::deque<yarp::sig::Vector> iCub::optimization::AffinityWithMatchedPoints::p1

protected

Definition at line 60 of file affinity.h.

◆ tol

double iCub::optimization::AffinityWithMatchedPoints::tol

protected

Definition at line 57 of file affinity.h.

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

icub-main/src/libraries/optimization/include/iCub/optimization/affinity.h
icub-main/src/libraries/optimization/src/affinity.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AffinityWithMatchedPoints()

◆ ~AffinityWithMatchedPoints()

Member Function Documentation

◆ addPoints()

◆ calibrate()

◆ clearPoints()

◆ evalError()

◆ getNumPoints()

◆ getPoints()

◆ setBounds()

◆ setCalibrationOptions()

◆ setInitialGuess()

Member Data Documentation

◆ A0

◆ max

◆ max_iter

◆ min

◆ p0

◆ p1

◆ tol