Function mp2p_icp::run_matchers

Defined in File Matcher.h

Function Documentation

Pairings mp2p_icp::run_matchers(const matcher_list_t &matchers, const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &local_wrt_global, const MatchContext &mc, const mrpt::optional_ref<MatchState> &userProvidedMS = std::nullopt)

Runs a sequence of matcher between two metric_map_t objects.

This is normally invoked by mp2p_icp::ICP, but users can use it as a standalone module as needed.