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18 #include <mrpt/containers/yaml.h>
19 #include <mrpt/rtti/CObject.h>
20 #include <mrpt/system/COutputLogger.h>
72 class Matcher :
public mrpt::system::COutputLogger,
73 public mrpt::rtti::CObject,
76 DEFINE_VIRTUAL_MRPT_OBJECT(
Matcher)
80 virtual void initialize(
const mrpt::containers::yaml& params);
88 const mrpt::poses::CPose3D& localPose,
const MatchContext& mc,
99 const mrpt::poses::CPose3D& localPose,
const MatchContext& mc,
114 const metric_map_t& pcLocal,
const mrpt::poses::CPose3D& local_wrt_global,
116 const mrpt::optional_ref<MatchState>& userProvidedMS = std::nullopt);
uint32_t runUpToIteration
0: no limit
MatchState(const metric_map_t &pcGlobal, const metric_map_t &pcLocal)
void initialize_from(const metric_map_t &pc)
virtual bool match(const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const MatchContext &mc, MatchState &ms, Pairings &out) const
uint32_t runFromIteration
Common types for all SE(3) optimal transformation methods.
const metric_map_t & pcLocal_
pointcloud_bitfield_t globalPairedBitField
Like localPairedBitField for the global map.
virtual bool impl_match(const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const MatchContext &mc, MatchState &ms, Pairings &out) const =0
Pairings 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)
Generic representation of pointcloud(s) and/or extracted features.
Generic container of pointcloud(s), extracted features and other maps.
const metric_map_t & pcGlobal_
pointcloud_bitfield_t localPairedBitField
A bit field with a bool for each metric_map_t entity.
std::vector< mp2p_icp::Matcher::Ptr > matcher_list_t
virtual void initialize(const mrpt::containers::yaml ¶ms)
uint32_t icpIteration
The ICP iteration number we are in:
mp2p_icp
Author(s): Jose-Luis Blanco-Claraco
autogenerated on Fri Jul 5 2024 02:47:02