#include <Rigid.hpp>

Inheritance diagram for fast::CoherentPointDriftRigid:

Collaboration diagram for fast::CoherentPointDriftRigid:

Public Member Functions
	CoherentPointDriftRigid ()

void	maximization (MatrixXf &fixedPoints, MatrixXf &movingPoints) override

void	initializeVarianceAndMore () override

Public Member Functions inherited from fast::CoherentPointDrift
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 ()

void	expectation (MatrixXf &fixedPoints, MatrixXf &movingPoints)

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 ()

Additional Inherited Members
Public Types inherited from fast::CoherentPointDrift
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

Static Public Member Functions inherited from fast::ProcessObject
static std::string	getStaticNameOfClass ()

Static Public Member Functions inherited from fast::Object
static std::string	getStaticNameOfClass ()

Protected Member Functions inherited from fast::CoherentPointDrift
	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 inherited from fast::CoherentPointDrift
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

Constructor & Destructor Documentation

◆ CoherentPointDriftRigid()

fast::CoherentPointDriftRigid::CoherentPointDriftRigid ( )

Member Function Documentation

◆ initializeVarianceAndMore()

void fast::CoherentPointDriftRigid::initializeVarianceAndMore ( )

overridevirtual

Implements fast::CoherentPointDrift.

◆ maximization()

void fast::CoherentPointDriftRigid::maximization	(	MatrixXf &	fixedPoints,
		MatrixXf &	movingPoints
	)