#include <Matcher_Point2Plane.h>

Inheritance diagram for mp2p_icp::Matcher_Point2Plane:

[legend]

Public Member Functions
void	initialize (const mrpt::containers::yaml &params) override

	Matcher_Point2Plane ()

Public Member Functions inherited from mp2p_icp::Matcher_Points_Base
void	initialize (const mrpt::containers::yaml &params) override

	Matcher_Points_Base ()=default

Public Member Functions inherited from mp2p_icp::Matcher
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

Public Member Functions inherited from mp2p_icp::Parameterizable
ParameterSource *	attachedSource ()

const ParameterSource *	attachedSource () const

virtual void	attachToParameterSource (ParameterSource &source)

void	checkAllParametersAreRealized () const

auto &	declaredParameters ()

const auto &	declaredParameters () const

void	unrealizeParameters ()
	Mark all non-constant parameters as non-evaluated again. More...

Private Member Functions
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

Private Attributes
double	distanceThreshold = 0.50

Additional Inherited Members
Static Public Member Functions inherited from mp2p_icp::Matcher_Points_Base
static TransformedLocalPointCloud	transform_local_to_global (const mrpt::maps::CPointsMap &pcLocal, const mrpt::poses::CPose3D &localPose, const std::size_t maxLocalPoints=0, const uint64_t localPointsSampleSeed=0)

Public Attributes inherited from mp2p_icp::Matcher_Points_Base
bool	allowMatchAlreadyMatchedGlobalPoints_ = false

bool	allowMatchAlreadyMatchedPoints_ = false

double	bounding_box_intersection_check_epsilon_ = 0.20

std::optional< std::size_t >	kdtree_leaf_max_points_

uint64_t	localPointsSampleSeed_ = 0

uint64_t	maxLocalPointsPerLayer_ = 0

std::map< std::string, std::map< std::string, double > >	weight_pt2pt_layers

Public Attributes inherited from mp2p_icp::Matcher
bool	enabled = true

uint32_t	runFromIteration = 0

uint32_t	runUpToIteration = 0
	0: no limit More...

Protected Member Functions inherited from mp2p_icp::Matcher_Points_Base
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 override final

Protected Member Functions inherited from mp2p_icp::Parameterizable
void	parseAndDeclareParameter (const std::string &value, double &target)

void	parseAndDeclareParameter (const std::string &value, float &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

void	parseAndDeclareParameter (const std::string &value, uint32_t &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Detailed Description

Pointcloud matcher: point to plane-fit of nearby points

Finds point-to-plane pairings between local point layers and points fitting a plane in layers of the global input metric map.

By default, each local point layer is matched against the layer with the same name in the global map, unless specified otherwise in the base class member weight_pt2pt_layers. Refer to example configuration YAML files for example configurations.

Definition at line 30 of file Matcher_Point2Plane.h.

Constructor & Destructor Documentation

◆ Matcher_Point2Plane()

Matcher_Point2Plane::Matcher_Point2Plane ( )

Definition at line 23 of file Matcher_Point2Plane.cpp.

Member Function Documentation

◆ implMatchOneLayer()

void Matcher_Point2Plane::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

overrideprivatevirtual

Implements mp2p_icp::Matcher_Points_Base.

Definition at line 34 of file Matcher_Point2Plane.cpp.

◆ initialize()

void Matcher_Point2Plane::initialize ( const mrpt::containers::yaml & params )

overridevirtual

Parameters:

distanceThreshold: Max. inliers pt-plane distance [meters][mandatory]

Plus: the parameters of Matcher_Points_Base::initialize()

Reimplemented from mp2p_icp::Matcher.

Definition at line 28 of file Matcher_Point2Plane.cpp.

Member Data Documentation

◆ distanceThreshold

double mp2p_icp::Matcher_Point2Plane::distanceThreshold = 0.50

private

Definition at line 45 of file Matcher_Point2Plane.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members