Matcher_Point2Line.h
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1 /* -------------------------------------------------------------------------
2  * A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
3  * Copyright (C) 2018-2024 Jose Luis Blanco, University of Almeria
4  * See LICENSE for license information.
5  * ------------------------------------------------------------------------- */
12 #pragma once
13 
15 
16 namespace mp2p_icp
17 {
31 {
32  DEFINE_MRPT_OBJECT(Matcher_Point2Line, mp2p_icp)
33 
34  public:
36 
49  void initialize(const mrpt::containers::yaml& params) override;
50 
51  private:
52  double distanceThreshold = 0.50;
53  uint32_t knn = 4;
54  uint32_t minimumLinePoints = 4;
55  double lineEigenThreshold = 0.01;
56 
57  void implMatchOneLayer(
58  const mrpt::maps::CMetricMap& pcGlobal,
59  const mrpt::maps::CPointsMap& pcLocal,
60  const mrpt::poses::CPose3D& localPose, MatchState& ms,
61  const layer_name_t& globalName, const layer_name_t& localName,
62  Pairings& out) const override;
63 };
64 
65 } // 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 &params) 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
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autogenerated on Thu Dec 26 2024 03:48:12