cl_algo::ICP Namespace Reference

Offers classes associated with the ICP pipeline. More...

Classes
class	ICP
	Interface class for the ICP pipeline. More...
class	ICPDevs
	Interface class for the icpSubtractMean kernel. More...
class	ICPLMs
	Interface class for the getLMs kernel. More...
class	ICPMean
	Interface class for the calculation of the fixed and moving set means. More...
class	ICPMean< ICPMeanConfig::REGULAR >
	Interface class for the icpMean kernel. More...
class	ICPMean< ICPMeanConfig::WEIGHTED >
	Interface class for the icpMean_Weighted kernel. More...
class	ICPPowerMethod
	Interface class for the icpTransform_Matrix kernel. More...
class	ICPReps
	Interface class for the getReps kernel. More...
class	ICPS
	Interface class for calculating the S matrix and the s scale factor constituents. More...
class	ICPS< ICPSConfig::REGULAR >
	Interface class for calculating the S matrix and the s scale factor constituents, while considering regular residual errors. More...
class	ICPS< ICPSConfig::WEIGHTED >
	Interface class for calculating the S matrix and the s scale factor constituents, while considering weighted residual errors. More...
class	ICPStep
	Interface class for the ICP pipeline. More...
class	ICPStep< ICPStepConfigT::EIGEN, ICPStepConfigW::REGULAR >
	Interface class for the ICP pipeline using the Eigen library to estimate the rotation and considering regular residual errors. More...
class	ICPStep< ICPStepConfigT::EIGEN, ICPStepConfigW::WEIGHTED >
	Interface class for the ICP pipeline using the Eigen library to estimate the rotation and considering weighted residual errors. More...
class	ICPStep< ICPStepConfigT::POWER_METHOD, ICPStepConfigW::REGULAR >
	Interface class for the ICP pipeline using the Power Method to estimate the rotation and considering regular residual errors. More...
class	ICPStep< ICPStepConfigT::POWER_METHOD, ICPStepConfigW::WEIGHTED >
	Interface class for the ICP pipeline using the Power Method to estimate the rotation and considering weighted residual errors. More...
class	ICPTransform
	Interface class for the icpTransform kernels. More...
class	ICPTransform< ICPTransformConfig::MATRIX >
	Interface class for the icpTransform_Matrix kernel. More...
class	ICPTransform< ICPTransformConfig::QUATERNION >
	Interface class for the icpTransform_Quaternion kernel. More...
class	ICPWeights
	Interface class for the icpComputeReduceWeights kernel. More...
class	Reduce
	Interface class for the reduce kernels. More...
class	Scan
	Interface class for the scan kernels. More...

Enumerations
enum	ReduceConfig : uint8_t { ReduceConfig::MIN, ReduceConfig::MAX, ReduceConfig::SUM }
	Enumerates configurations for the Reduce class. More...
enum	ScanConfig : uint8_t { ScanConfig::INCLUSIVE, ScanConfig::EXCLUSIVE }
	Enumerates configurations for the Scan class. More...
enum	ICPMeanConfig : uint8_t { ICPMeanConfig::REGULAR, ICPMeanConfig::WEIGHTED }
	Enumerates configurations for the ICPMean class. More...
enum	ICPSConfig : uint8_t { ICPSConfig::REGULAR, ICPSConfig::WEIGHTED }
	Enumerates configurations for the ICPS class. More...
enum	ICPTransformConfig : uint8_t { ICPTransformConfig::QUATERNION, ICPTransformConfig::MATRIX }
	Enumerates configurations for the ICPTransform class. More...
enum	ICPStepConfigT : uint8_t { ICPStepConfigT::EIGEN, ICPStepConfigT::POWER_METHOD, ICPStepConfigT::JACOBI }
	Enumerates configurations for the ICPStep class. More...
enum	ICPStepConfigW : uint8_t { ICPStepConfigW::REGULAR, ICPStepConfigW::WEIGHTED }
	Enumerates configurations for the ICPStep class. More...
enum	Staging : uint8_t { Staging::NONE, Staging::I, Staging::O, Staging::IO }
	Enumerates staging buffer configurations. More...

Detailed Description

Offers classes associated with the ICP pipeline.

Enumeration Type Documentation

enum cl_algo::ICP::ICPMeanConfig : uint8_t

strong

Enumerates configurations for the ICPMean class.

Enumerator
REGULAR	Identifies the case of regular mean calculation, \( \bar{x}_j = \sum^{n}_{i}{\frac{x_{ij}}{n}} \).
WEIGHTED	Identifies the case of weighted mean calculation, \( \bar{x}_j = \frac{\sum^{n}_{i}{w_i*x_{ij}}}{\sum^{n}_{i}{w_i}} \).

enum cl_algo::ICP::ICPSConfig : uint8_t

strong

Enumerates configurations for the ICPS class.

Enumerator
REGULAR	Identifies the case of regular sums of products.
WEIGHTED	Identifies the case of weighted sums of products.

enum cl_algo::ICP::ICPStepConfigT : uint8_t

strong

Enumerates configurations for the ICPStep class.

All computation is done on the GPU. The only point of divergence in the ICP data flow is the rotation computation.

Enumerator
EIGEN	[CPU] Identifies the case where the JacobiSVD in Eigen3 is used to compute the singular value decomposition of matrix \(S\). Given \( S=USV^T \), the rotation matrix is then built as \(R=VU^T\).
POWER_METHOD	[GPU] Identifies the case where the Power Method is used to find the unit quaternion \(\dot{q}\) that describes the rotation. It computes the eigenvector \(\mathcal{v}=\dot{q}\) that corresponds to the maximum eigenvalue of matrix \(N\).
JACOBI	Todo: [GPU] Identifies the case where one of the Jacobi methods is used to compute the unit quaternion \(\dot{q}\) that describes the rotation.

enum cl_algo::ICP::ICPStepConfigW : uint8_t

strong

Enumerates configurations for the ICPStep class.

Enumerator
REGULAR	Identifies the case of regular sum of errors.
WEIGHTED	Identifies the case of weighted sum of errors.

enum cl_algo::ICP::ICPTransformConfig : uint8_t

strong

Enumerates configurations for the ICPTransform class.

Enumerator
QUATERNION	Identifies the case where the homogeneous transformation is characterized by a quaternion and a translation vector, \(\ p' = s\dot{q}\dot{p}\dot{q}^*+t \).
MATRIX	Identifies the case where the homogeneous transformation is characterized by a transformation matrix, \( p' = Tp = \left[ \begin{matrix} sR & t \\ 0 & 1 \end{matrix} \right] \left[ \begin{matrix} p \\ 1 \end{matrix} \right] = sRp+t \).

enum cl_algo::ICP::ReduceConfig : uint8_t

strong

Enumerates configurations for the Reduce class.

Enumerator
MIN	Identifies the case of min reduce.
MAX	Identifies the case of max reduce.
SUM	Identifies the case of sum reduce.

enum cl_algo::ICP::ScanConfig : uint8_t

strong

Enumerates configurations for the Scan class.

Enumerator
INCLUSIVE	Identifies the case of inclusive scan.
EXCLUSIVE	Identifies the case of exclusive scan.

enum cl_algo::ICP::Staging : uint8_t

strong

Enumerates staging buffer configurations.

It's meant to be used when making a call to the init method of one of the cl_algo classes. It specifies which staging buffers to be instantiated.

Enumerator
NONE	Do not instantiate any staging buffers.
I	Instantiate the input staging buffers.
O	Instantiate the output staging buffers.
IO	Instantiate both input and output staging buffers.