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mp2p_icp
include
mp2p_icp
Matcher_Point2Plane.h
Go to the documentation of this file.
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
14
#include <
mp2p_icp/Matcher_Points_Base.h
>
15
16
namespace
mp2p_icp
17
{
30
class
Matcher_Point2Plane
:
public
Matcher_Points_Base
31
{
32
DEFINE_MRPT_OBJECT(
Matcher_Point2Plane
,
mp2p_icp
)
33
34
public
:
35
Matcher_Point2Plane
();
36
42
void
initialize
(
const
mrpt::containers::yaml& params)
override
;
43
44
private
:
45
double
distanceThreshold
= 0.50;
46
47
void
implMatchOneLayer
(
48
const
mrpt::maps::CMetricMap& pcGlobal,
49
const
mrpt::maps::CPointsMap& pcLocal,
50
const
mrpt::poses::CPose3D& localPose,
MatchState
& ms,
51
const
layer_name_t
& globalName,
const
layer_name_t
& localName,
52
Pairings
&
out
)
const override
;
53
};
54
55
}
// namespace mp2p_icp
mp2p_icp::Matcher_Point2Plane::initialize
void initialize(const mrpt::containers::yaml ¶ms) override
Definition:
Matcher_Point2Plane.cpp:28
mp2p_icp::Matcher_Points_Base
Definition:
Matcher_Points_Base.h:31
mp2p_icp
Definition:
covariance.h:17
mp2p_icp::Matcher_Point2Plane
Definition:
Matcher_Point2Plane.h:30
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::MatchState
Definition:
Matcher.h:37
kitti-batch-convert.out
string out
Definition:
kitti-batch-convert.py:7
Matcher_Points_Base.h
Pointcloud matcher auxiliary class for iterating over point layers.
mp2p_icp::Matcher_Point2Plane::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_Point2Plane.cpp:34
mp2p_icp::Matcher_Point2Plane::Matcher_Point2Plane
Matcher_Point2Plane()
Definition:
Matcher_Point2Plane.cpp:23
mp2p_icp::Matcher_Point2Plane::distanceThreshold
double distanceThreshold
Definition:
Matcher_Point2Plane.h:45
mp2p_icp
Author(s):
autogenerated on Wed Feb 26 2025 03:45:47