mp2p_icp
include
mp2p_icp
Matcher_Points_DistanceThreshold.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_Points_DistanceThreshold
:
public
Matcher_Points_Base
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{
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DEFINE_MRPT_OBJECT(
Matcher_Points_DistanceThreshold
,
mp2p_icp
)
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public
:
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Matcher_Points_DistanceThreshold
();
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Matcher_Points_DistanceThreshold
(
double
distThreshold)
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:
Matcher_Points_DistanceThreshold
()
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{
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threshold
= distThreshold;
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}
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void
initialize
(
const
mrpt::containers::yaml& params)
override
;
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double
threshold
= 0.50;
// m
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double
thresholdAngularDeg
= 0.50;
// deg
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uint32_t
pairingsPerPoint
= 1;
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private
:
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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_DistanceThreshold::initialize
void initialize(const mrpt::containers::yaml ¶ms) override
Definition:
Matcher_Points_DistanceThreshold.cpp:33
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_Points_DistanceThreshold::Matcher_Points_DistanceThreshold
Matcher_Points_DistanceThreshold()
Definition:
Matcher_Points_DistanceThreshold.cpp:27
mp2p_icp::Matcher_Points_DistanceThreshold::pairingsPerPoint
uint32_t pairingsPerPoint
Definition:
Matcher_Points_DistanceThreshold.h:55
mp2p_icp::Matcher_Points_DistanceThreshold::thresholdAngularDeg
double thresholdAngularDeg
Definition:
Matcher_Points_DistanceThreshold.h:54
mp2p_icp::Matcher_Points_DistanceThreshold
Definition:
Matcher_Points_DistanceThreshold.h:30
mp2p_icp::Matcher_Points_DistanceThreshold::threshold
double threshold
Definition:
Matcher_Points_DistanceThreshold.h:53
mp2p_icp::Matcher_Points_DistanceThreshold::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_Points_DistanceThreshold.cpp:43
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_Points_DistanceThreshold::Matcher_Points_DistanceThreshold
Matcher_Points_DistanceThreshold(double distThreshold)
Definition:
Matcher_Points_DistanceThreshold.h:37
mp2p_icp
Author(s):
autogenerated on Wed Oct 23 2024 02:45:40