Function mp2p_icp::icp_pipeline_from_yaml

Defined in File icp_pipeline_from_yaml.h

Function Documentation

std::tuple<mp2p_icp::ICP::Ptr, mp2p_icp::Parameters> mp2p_icp::icp_pipeline_from_yaml(const mrpt::containers::yaml &config, const mrpt::system::VerbosityLevel &vLevel = mrpt::system::LVL_INFO)

Sets up an ICP pipeline from a YAML configuration file.

The basic structure of the YAML configuration block is (see also example YAML files):

class_name: mp2p_icp::ICP

# See: mp2p_icp::Parameter
params:
  maxIterations: 100
  # ...

solvers:
  - class: mp2p_icp::Solver_GaussNewton
    params:
      maxIterations: 10

# Sequence of one or more pairs (class, params) defining mp2p_icp::Matcher
# instances to pair geometric entities between pointclouds.
matchers:
  - class: mp2p_icp::Matcher_Points_DistanceThreshold
    params:
      threshold: 0.20

quality:
  - class: mp2p_icp::QualityEvaluator_PairedRatio
    params:
     thresholdDistance: 0.1