mp2p_icp::QualityEvaluator_PairedRatio Class Reference

#include <QualityEvaluator_PairedRatio.h>

Inheritance diagram for mp2p_icp::QualityEvaluator_PairedRatio:

Public Member Functions
void	attachToParameterSource (ParameterSource &source) override
Result	evaluate (const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const Pairings &pairingsFromICP) const override
void	initialize (const mrpt::containers::yaml &params) override
Public Member Functions inherited from mp2p_icp::Parameterizable
ParameterSource *	attachedSource ()
const ParameterSource *	attachedSource () const
void	checkAllParametersAreRealized () const
auto &	declaredParameters ()
const auto &	declaredParameters () const
void	unrealizeParameters ()
	Mark all non-constant parameters as non-evaluated again. More...

Private Attributes
double	absolute_minimum_pairing_ratio = 0.20
Matcher_Points_DistanceThreshold	matcher_
bool	reuse_icp_pairings = true

Additional Inherited Members
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

Matching quality evaluator: simple ratio [0,1] of paired entities, using either an independent Matcher_Points_DistanceThreshold object, or (faster) directly from the ratio of found pairings in the last ICP step if reuse_icp_pairings is true, the default.

Definition at line 26 of file QualityEvaluator_PairedRatio.h.

Member Function Documentation

attachToParameterSource()

void mp2p_icp::QualityEvaluator_PairedRatio::attachToParameterSource ( ParameterSource &  source )

inlineoverridevirtual

Each parameterizable object can be attached to one source at a given time

Reimplemented from mp2p_icp::Parameterizable.

Definition at line 46 of file QualityEvaluator_PairedRatio.h.

evaluate()

QualityEvaluator::Result QualityEvaluator_PairedRatio::evaluate ( const metric_map_t &  pcGlobal, const metric_map_t &  pcLocal, const mrpt::poses::CPose3D &  localPose, const Pairings &  pairingsFromICP  ) const

overridevirtual

Finds correspondences between the two point clouds.

Implements mp2p_icp::QualityEvaluator.

Definition at line 38 of file QualityEvaluator_PairedRatio.cpp.

initialize()

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

overridevirtual

See base class. Parameters:

reuse_icp_pairings: true # Default=true (no more params then required)
#thresholdDistance: 0.10
#thresholdAngularDeg: 0

Implements mp2p_icp::QualityEvaluator.

Definition at line 19 of file QualityEvaluator_PairedRatio.cpp.

Member Data Documentation

absolute_minimum_pairing_ratio

double mp2p_icp::QualityEvaluator_PairedRatio::absolute_minimum_pairing_ratio = 0.20

private

Definition at line 56 of file QualityEvaluator_PairedRatio.h.

matcher_

Matcher_Points_DistanceThreshold mp2p_icp::QualityEvaluator_PairedRatio::matcher_

private

Definition at line 53 of file QualityEvaluator_PairedRatio.h.

reuse_icp_pairings

bool mp2p_icp::QualityEvaluator_PairedRatio::reuse_icp_pairings = true

private

Definition at line 54 of file QualityEvaluator_PairedRatio.h.

---

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

• QualityEvaluator_PairedRatio.h
• QualityEvaluator_PairedRatio.cpp