mp2p_icp Namespace Reference

Classes
struct	color_mode_t
struct	CovarianceParameters
class	ICP
class	ICP_LibPointmatcher
class	LogRecord
struct	MatchContext
struct	matched_line_t
struct	matched_plane_t
class	Matcher
class	Matcher_Point2Line
class	Matcher_Point2Plane
class	Matcher_Points_Base
class	Matcher_Points_DistanceThreshold
class	Matcher_Points_InlierRatio
struct	MatchState
class	metric_map_t
	Generic container of pointcloud(s), extracted features and other maps. More...
struct	OptimalTF_GN_Parameters
struct	OptimalTF_Result
struct	OutlierIndices
struct	Pairings
struct	pairings_render_params_t
struct	PairWeights
struct	Parameters
struct	plane_patch_t
struct	point_line_pair_t
struct	point_plane_pair_t
struct	pointcloud_bitfield_t
struct	PointCloudEigen
	Output of estimate_points_eigen() More...
class	QualityEvaluator
class	QualityEvaluator_PairedRatio
class	QualityEvaluator_RangeImageSimilarity
class	QualityEvaluator_Voxels
struct	render_params_lines_t
struct	render_params_pairings_pt2ln_t
struct	render_params_pairings_pt2pl_t
struct	render_params_pairings_pt2pt_t
struct	render_params_planes_t
struct	render_params_point_layer_t
struct	render_params_points_t
struct	render_params_t
struct	Results
class	Solver
class	Solver_GaussNewton
class	Solver_Horn
class	Solver_OLAE
struct	SolverContext
struct	VisitCorrespondencesStats
struct	WeightParameters

Typedefs
using	layer_name_t = std::string
using	MatchedLineList = std::vector< matched_line_t >
using	MatchedPlaneList = std::vector< matched_plane_t >
using	MatchedPointLineList = std::vector< point_line_pair_t >
using	MatchedPointPlaneList = std::vector< point_plane_pair_t >
using	matcher_list_t = std::vector< mp2p_icp::Matcher::Ptr >

Enumerations
enum	Coordinate : uint8_t { Coordinate::X = 0, Coordinate::Y, Coordinate::Z }
enum	IterTermReason : uint8_t {   IterTermReason::Undefined = 0, IterTermReason::NoPairings, IterTermReason::SolverError, IterTermReason::MaxIterations,   IterTermReason::Stalled }

Functions
mrpt::math::CMatrixDouble66	covariance (const Pairings &finalPairings, const mrpt::poses::CPose3D &finalAlignSolution, const CovarianceParameters &p)
mrpt::math::CVectorFixedDouble< 4 >	error_line2line (const mp2p_icp::matched_line_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 4, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_plane2plane (const mp2p_icp::matched_plane_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_point2line (const mp2p_icp::point_line_pair_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_point2plane (const mp2p_icp::point_plane_pair_t &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
mrpt::math::CVectorFixedDouble< 3 >	error_point2point (const mrpt::tfest::TMatchingPair &pairing, const mrpt::poses::CPose3D &relativePose, mrpt::optional_ref< mrpt::math::CMatrixFixed< double, 3, 12 >> jacobian=std::nullopt)
PointCloudEigen	estimate_points_eigen (const float *xs, const float *ys, const float *zs, mrpt::optional_ref< const std::vector< size_t >> indices, std::optional< size_t > totalCount=std::nullopt)
std::tuple< mrpt::math::TPoint3D, mrpt::math::TPoint3D >	eval_centroids_robust (const Pairings &in, const OutlierIndices &outliers)
std::tuple< mp2p_icp::ICP::Ptr, mp2p_icp::Parameters >	icp_pipeline_from_yaml (const mrpt::containers::yaml &config, const mrpt::system::VerbosityLevel &vLevel=mrpt::system::LVL_INFO)
mrpt::maps::CSimplePointsMap::Ptr	load_xyz_file (const std::string &fil)
mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const Results &obj)
mrpt::serialization::CArchive &	operator<< (mrpt::serialization::CArchive &out, const Pairings &obj)
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, Results &obj)
mrpt::serialization::CArchive &	operator>> (mrpt::serialization::CArchive &in, Pairings &obj)
bool	optimal_tf_gauss_newton (const Pairings &in, OptimalTF_Result &result, const OptimalTF_GN_Parameters &gnParams=OptimalTF_GN_Parameters())
bool	optimal_tf_horn (const mp2p_icp::Pairings &in, const WeightParameters &wp, OptimalTF_Result &result)
bool	optimal_tf_olae (const Pairings &in, const WeightParameters &wp, OptimalTF_Result &result)
Pairings	pt2ln_pl_to_pt2pt (const Pairings &in, const SolverContext &sc)
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)
template<class LAMBDA , class LAMBDA2 >
void	visit_correspondences (const Pairings &in, const WeightParameters &wp, const mrpt::math::TPoint3D &ct_local, const mrpt::math::TPoint3D &ct_global, OutlierIndices &in_out_outliers, LAMBDA lambda_each_pair, LAMBDA2 lambda_final, bool normalize_relative_point_vectors, const mrpt::optional_ref< VisitCorrespondencesStats > &outStats=std::nullopt)

Typedef Documentation

matcher_list_t

using mp2p_icp::matcher_list_t = typedef std::vector<mp2p_icp::Matcher::Ptr>

Definition at line 98 of file Matcher.h.

Function Documentation

optimal_tf_horn()

bool mp2p_icp::optimal_tf_horn	(	const mp2p_icp::Pairings &	in,
		const WeightParameters &	wp,
		OptimalTF_Result &	result
	)

Classic Horn's solution for optimal SE(3) transformation, modified to accept point-to-point, line-to-line, plane-to-plane pairings. If you need point-to-line or point-to-plane pairings, use the wrapper mp2p_icp::Solver_Horn.

Note

On MRPT naming convention: "this"=global; "other"=local.

Returns

false If the number of pairings is too small for a unique solution, true on success.

Definition at line 199 of file optimal_tf_horn.cpp.

pt2ln_pl_to_pt2pt()

Pairings mp2p_icp::pt2ln_pl_to_pt2pt	(	const Pairings &	in,
		const SolverContext &	sc
	)

Returns a copy of the input pairings, adding new pt2pt pairings for those pt2ln and pt2pl pairings.

Definition at line 39 of file pt2ln_pl_to_pt2pt.cpp.