fast::CoherentPointDrift Class Reference

#include <CoherentPointDrift.hpp>

Inheritance diagram for fast::CoherentPointDrift:

Collaboration diagram for fast::CoherentPointDrift:

Public Types
enum	TransformationType { RIGID, AFFINE, NONRIGID }
Public Types inherited from fast::ProcessObject
typedef std::shared_ptr< ProcessObject >	pointer
Public Types inherited from fast::Object
typedef std::shared_ptr< Object >	pointer

Public Member Functions
void	setFixedMeshPort (DataChannel::pointer port)
void	setFixedMesh (Mesh::pointer data)
void	setMovingMeshPort (DataChannel::pointer port)
void	setMovingMesh (Mesh::pointer data)
void	setMaximumIterations (unsigned char maxIterations)
void	setUniformWeight (float uniformWeight)
void	setTolerance (double tolerance)
AffineTransformation::pointer	getOutputTransformation ()
virtual void	initializeVarianceAndMore ()=0
void	expectation (MatrixXf &fixedPoints, MatrixXf &movingPoints)
virtual void	maximization (MatrixXf &fixedPoints, MatrixXf &movingPoints)=0
Public Member Functions inherited from fast::ProcessObject
virtual	~ProcessObject ()
void	update (int executeToken=-1)
RuntimeMeasurement::pointer	getRuntime ()
RuntimeMeasurement::pointer	getRuntime (std::string name)
RuntimeMeasurementsManager::pointer	getAllRuntimes ()
void	enableRuntimeMeasurements ()
void	disableRuntimeMeasurements ()
void	setMainDevice (ExecutionDevice::pointer device)
void	setMainDeviceCriteria (const DeviceCriteria &citeria)
ExecutionDevice::pointer	getMainDevice () const
void	setDevice (uint deviceNumber, ExecutionDevice::pointer device)
void	setDeviceCriteria (uint deviceNumber, const DeviceCriteria &criteria)
ExecutionDevice::pointer	getDevice (uint deviceNumber) const
virtual DataChannel::pointer	getOutputPort (uint portID=0)
virtual DataChannel::pointer	getInputPort (uint portID=0)
virtual void	setInputConnection (DataChannel::pointer port)
virtual void	setInputConnection (uint portID, DataChannel::pointer port)
virtual void	setInputData (DataObject::pointer data)
virtual void	setInputData (uint portID, DataObject::pointer data)
int	getNrOfInputConnections () const
int	getNrOfOutputPorts () const
virtual std::string	getNameOfClass () const =0
virtual void	loadAttributes ()
std::shared_ptr< Attribute >	getAttribute (std::string id)
std::unordered_map< std::string, std::shared_ptr< Attribute > >	getAttributes ()
void	setAttributes (std::vector< std::shared_ptr< Attribute >> attributes)
void	stopPipeline ()
void	setModified (bool modified)
template<class DataType >
std::shared_ptr< DataType >	updateAndGetOutputData (uint portID=0)
Public Member Functions inherited from fast::Object
	Object ()
virtual	~Object ()
Reporter &	getReporter ()

Protected Member Functions
	CoherentPointDrift ()
void	execute ()
Protected Member Functions inherited from fast::ProcessObject
	ProcessObject ()
virtual void	preExecute ()
virtual void	postExecute ()
template<class DataType >
void	createInputPort (uint portID, bool required=true)
template<class DataType >
void	createOutputPort (uint portID)
template<class DataType >
std::shared_ptr< DataType >	getInputData (uint portID=0)
template<class DataType >
std::shared_ptr< DataType >	getOutputData (uint portID=0)
void	addOutputData (uint portID, DataObject::pointer data)
bool	hasNewInputData (uint portID)
virtual void	waitToFinish ()
void	createOpenCLProgram (std::string sourceFilename, std::string name="")
cl::Program	getOpenCLProgram (std::shared_ptr< OpenCLDevice > device, std::string name="", std::string buildOptions="")
void	createFloatAttribute (std::string id, std::string name, std::string description, float initialValue)
void	createIntegerAttribute (std::string id, std::string name, std::string description, int initialValue)
void	createBooleanAttribute (std::string id, std::string name, std::string description, bool initialValue)
void	createStringAttribute (std::string id, std::string name, std::string description, std::string initialValue)
float	getFloatAttribute (std::string id)
int	getIntegerAttribute (std::string id)
bool	getBooleanAttribute (std::string id)
std::string	getStringAttribute (std::string id)
std::vector< float >	getFloatListAttribute (std::string id)
std::vector< int >	getIntegerListAttribute (std::string id)
std::vector< bool >	getBooleanListAttribute (std::string id)
std::vector< std::string >	getStringListAttribute (std::string id)
void	changeDeviceOnInputs (uint deviceNumber, ExecutionDevice::pointer device)
void	validateInputPortExists (uint portID)
void	validateOutputPortExists (uint portID)
Protected Member Functions inherited from fast::Object
Reporter &	reportError ()
Reporter &	reportWarning ()
Reporter &	reportInfo ()
ReporterEnd	reportEnd () const

Protected Attributes
MatrixXf	mFixedPoints
MatrixXf	mMovingPoints
MatrixXf	mMovingMeanInitial
MatrixXf	mFixedMeanInitial
MatrixXf	mResponsibilityMatrix
unsigned int	mNumFixedPoints
unsigned int	mNumMovingPoints
unsigned int	mNumDimensions
float	mUniformWeight
double	mTolerance
double	mScale
double	mVariance
double	mObjectiveFunction
double	mFixedNormalizationScale
double	mMovingNormalizationScale
AffineTransformation::pointer	mTransformation
unsigned char	mIteration
bool	mRegistrationConverged
double	timeE
double	timeEDistances
double	timeENormal
double	timeEPosterior
double	timeEPosteriorDivision
double	timeM
double	timeMUseful
double	timeMCenter
double	timeMSVD
double	timeMParameters
double	timeMUpdate
Protected Attributes inherited from fast::ProcessObject
bool	mIsModified
int	m_lastExecuteToken = -1
RuntimeMeasurementsManager::pointer	mRuntimeManager
std::unordered_map< uint, bool >	mRequiredInputs
std::unordered_map< uint, std::vector< uint > >	mInputDevices
std::unordered_map< uint, ExecutionDevice::pointer >	mDevices
std::unordered_map< uint, DeviceCriteria >	mDeviceCriteria
std::unordered_map< uint, DataChannel::pointer >	mInputConnections
std::unordered_map< uint, std::vector< std::weak_ptr< DataChannel > > >	mOutputConnections
std::unordered_map< uint, bool >	mInputPorts
std::unordered_set< uint >	mOutputPorts
std::unordered_map< uint, std::pair< DataObject::pointer, uint64_t > >	mLastProcessed
std::unordered_map< std::string, std::shared_ptr< OpenCLProgram > >	mOpenCLPrograms
std::unordered_map< std::string, std::shared_ptr< Attribute > >	mAttributes
std::unordered_map< std::string, std::string >	m_frameData
std::unordered_set< std::string >	m_lastFrame
int	m_maximumNrOfFrames = -1
Protected Attributes inherited from fast::Object
std::weak_ptr< Object >	mPtr

Additional Inherited Members
Static Public Member Functions inherited from fast::ProcessObject
static std::string	getStaticNameOfClass ()
Static Public Member Functions inherited from fast::Object
static std::string	getStaticNameOfClass ()

Member Enumeration Documentation

TransformationType

enum fast::CoherentPointDrift::TransformationType

Enumerator
RIGID
AFFINE
NONRIGID

Constructor & Destructor Documentation

CoherentPointDrift()

fast::CoherentPointDrift::CoherentPointDrift ( )

protected

Member Function Documentation

execute()

void fast::CoherentPointDrift::execute ( )

protectedvirtual

Implements fast::ProcessObject.

expectation()

void fast::CoherentPointDrift::expectation	(	MatrixXf &	fixedPoints,
		MatrixXf &	movingPoints
	)

getOutputTransformation()

AffineTransformation::pointer fast::CoherentPointDrift::getOutputTransformation

(

)

initializeVarianceAndMore()

virtual void fast::CoherentPointDrift::initializeVarianceAndMore ( )

pure virtual

Implemented in fast::CoherentPointDriftRigid, and fast::CoherentPointDriftAffine.

maximization()

virtual void fast::CoherentPointDrift::maximization ( MatrixXf &  fixedPoints, MatrixXf &  movingPoints  )

pure virtual

Implemented in fast::CoherentPointDriftAffine, and fast::CoherentPointDriftRigid.

setFixedMesh()

void fast::CoherentPointDrift::setFixedMesh

(

Mesh::pointer

data

)

setFixedMeshPort()

void fast::CoherentPointDrift::setFixedMeshPort

(

DataChannel::pointer

port

)

setMaximumIterations()

void fast::CoherentPointDrift::setMaximumIterations

(

unsigned char

maxIterations

)

setMovingMesh()

void fast::CoherentPointDrift::setMovingMesh

(

Mesh::pointer

data

)

setMovingMeshPort()

void fast::CoherentPointDrift::setMovingMeshPort

(

DataChannel::pointer

port

)

setTolerance()

void fast::CoherentPointDrift::setTolerance

(

double

tolerance

)

setUniformWeight()

void fast::CoherentPointDrift::setUniformWeight

(

float

uniformWeight

)

Member Data Documentation

mFixedMeanInitial

MatrixXf fast::CoherentPointDrift::mFixedMeanInitial

protected

mFixedNormalizationScale

double fast::CoherentPointDrift::mFixedNormalizationScale

protected

mFixedPoints

MatrixXf fast::CoherentPointDrift::mFixedPoints

protected

mIteration

unsigned char fast::CoherentPointDrift::mIteration

protected

mMovingMeanInitial

MatrixXf fast::CoherentPointDrift::mMovingMeanInitial

protected

mMovingNormalizationScale

double fast::CoherentPointDrift::mMovingNormalizationScale

protected

mMovingPoints

MatrixXf fast::CoherentPointDrift::mMovingPoints

protected

mNumDimensions

unsigned int fast::CoherentPointDrift::mNumDimensions

protected

mNumFixedPoints

unsigned int fast::CoherentPointDrift::mNumFixedPoints

protected

mNumMovingPoints

unsigned int fast::CoherentPointDrift::mNumMovingPoints

protected

mObjectiveFunction

double fast::CoherentPointDrift::mObjectiveFunction

protected

mRegistrationConverged

bool fast::CoherentPointDrift::mRegistrationConverged

protected

mResponsibilityMatrix

MatrixXf fast::CoherentPointDrift::mResponsibilityMatrix

protected

mScale

double fast::CoherentPointDrift::mScale

protected

mTolerance

double fast::CoherentPointDrift::mTolerance

protected

mTransformation

AffineTransformation::pointer fast::CoherentPointDrift::mTransformation

protected

mUniformWeight

float fast::CoherentPointDrift::mUniformWeight

protected

mVariance

double fast::CoherentPointDrift::mVariance

protected

timeE

double fast::CoherentPointDrift::timeE

protected

timeEDistances

double fast::CoherentPointDrift::timeEDistances

protected

timeENormal

double fast::CoherentPointDrift::timeENormal

protected

timeEPosterior

double fast::CoherentPointDrift::timeEPosterior

protected

timeEPosteriorDivision

double fast::CoherentPointDrift::timeEPosteriorDivision

protected

timeM

double fast::CoherentPointDrift::timeM

protected

timeMCenter

double fast::CoherentPointDrift::timeMCenter

protected

timeMParameters

double fast::CoherentPointDrift::timeMParameters

protected

timeMSVD

double fast::CoherentPointDrift::timeMSVD

protected

timeMUpdate

double fast::CoherentPointDrift::timeMUpdate

protected

timeMUseful

double fast::CoherentPointDrift::timeMUseful

protected

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

• Algorithms/CoherentPointDrift/CoherentPointDrift.hpp