mp2p_icp
include
mp2p_icp
Matcher_Point2Line.h
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/* -------------------------------------------------------------------------
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* A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
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* Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
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* See LICENSE for license information.
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* ------------------------------------------------------------------------- */
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#pragma once
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#include <
mp2p_icp/Matcher_Points_Base.h
>
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namespace
mp2p_icp
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{
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class
Matcher_Point2Line
:
public
Matcher_Points_Base
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{
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DEFINE_MRPT_OBJECT(
Matcher_Point2Line
,
mp2p_icp
)
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public
:
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Matcher_Point2Line
();
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void
initialize
(
const
mrpt::containers::yaml& params)
override
;
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private
:
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double
distanceThreshold
= 0.50;
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uint32_t
knn
= 4;
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uint32_t
minimumLinePoints
= 4;
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double
lineEigenThreshold
= 0.01;
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void
implMatchOneLayer
(
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const
mrpt::maps::CMetricMap& pcGlobal,
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const
mrpt::maps::CPointsMap& pcLocal,
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const
mrpt::poses::CPose3D& localPose,
MatchState
& ms,
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const
layer_name_t
& globalName,
const
layer_name_t
& localName,
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Pairings
&
out
)
const override
;
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};
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}
// namespace mp2p_icp
mp2p_icp::Matcher_Points_Base
Definition:
Matcher_Points_Base.h:31
mp2p_icp
Definition:
covariance.h:17
mp2p_icp::Pairings
Definition:
Pairings.h:78
mp2p_icp::layer_name_t
std::string layer_name_t
Definition:
layer_name_t.h:22
mp2p_icp::Matcher_Point2Line::distanceThreshold
double distanceThreshold
Definition:
Matcher_Point2Line.h:52
mp2p_icp::MatchState
Definition:
Matcher.h:37
kitti-batch-convert.out
string out
Definition:
kitti-batch-convert.py:7
mp2p_icp::Matcher_Point2Line::initialize
void initialize(const mrpt::containers::yaml ¶ms) override
Definition:
Matcher_Point2Line.cpp:28
Matcher_Points_Base.h
Pointcloud matcher auxiliary class for iterating over point layers.
mp2p_icp::Matcher_Point2Line::Matcher_Point2Line
Matcher_Point2Line()
Definition:
Matcher_Point2Line.cpp:23
mp2p_icp::Matcher_Point2Line::knn
uint32_t knn
Definition:
Matcher_Point2Line.h:53
mp2p_icp::Matcher_Point2Line::lineEigenThreshold
double lineEigenThreshold
Definition:
Matcher_Point2Line.h:55
mp2p_icp::Matcher_Point2Line::minimumLinePoints
uint32_t minimumLinePoints
Definition:
Matcher_Point2Line.h:54
mp2p_icp::Matcher_Point2Line::implMatchOneLayer
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
Definition:
Matcher_Point2Line.cpp:39
mp2p_icp::Matcher_Point2Line
Definition:
Matcher_Point2Line.h:30
mp2p_icp
Author(s):
autogenerated on Thu Dec 26 2024 03:48:12