Matcher_Point2Plane.h

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/* -------------------------------------------------------------------------
 *  A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
 * Copyright (C) 2018-2021 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_Point2Plane : public Matcher_Points_Base
{
    DEFINE_MRPT_OBJECT(Matcher_Point2Plane, mp2p_icp)

   public:
    Matcher_Point2Plane();

    void initialize(const mrpt::containers::yaml& params) override;

   private:
    double   distanceThreshold              = 0.50;
    double   searchRadius                   = 0.50;
    uint32_t knn                            = 5;
    uint32_t minimumPlanePoints             = 5;
    double   planeEigenThreshold            = 0.01;
    bool     localPointMustFitPlaneToo      = false;
    double   localToGlobalPlaneMinAbsCosine = 0.8;

    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