Matcher_Points_DistanceThreshold.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once
 
#include <mp2p_icp/Matcher_Points_Base.h>
 
namespace mp2p_icp
{
class Matcher_Points_DistanceThreshold : public Matcher_Points_Base
{
    DEFINE_MRPT_OBJECT(Matcher_Points_DistanceThreshold, mp2p_icp)
 
   public:
    Matcher_Points_DistanceThreshold();
 
    Matcher_Points_DistanceThreshold(double distThreshold)
        : Matcher_Points_DistanceThreshold()
    {
        threshold = distThreshold;
    }
 
    void initialize(const mrpt::containers::yaml& params) override;
 
    double   threshold           = 0.50;  // m
    double   thresholdAngularDeg = 0.50;  // deg
    uint32_t pairingsPerPoint    = 1;
 
   private:
    void implMatchOneLayer(
        const mrpt::maps::CMetricMap& pcGlobal,
        const mrpt::maps::CPointsMap& pcLocal,
        const mrpt::poses::CPose3D& localPose, MatchState& ms,
        const layer_name_t& globalName, const layer_name_t& localName,
        Pairings& out) const override;
};
 
}  // namespace mp2p_icp