#include <ICP_LibPointmatcher.h>

Inheritance diagram for mp2p_icp::ICP_LibPointmatcher:

[legend]

Classes
struct	ParametersLibpointmatcher

Public Member Functions
void	align (const metric_map_t &pcLocal, const metric_map_t &pcGlobal, const mrpt::math::TPose3D &initialGuessLocalWrtGlobal, const Parameters &p, Results &result, const std::optional< mrpt::poses::CPose3DPDFGaussianInf > &prior=std::nullopt, const mrpt::optional_ref< LogRecord > &outputDebugInfo=std::nullopt) override

void	initialize_derived (const mrpt::containers::yaml &params) override

Public Member Functions inherited from mp2p_icp::ICP
void	attachToParameterSource (ParameterSource &source)

virtual void	initialize_derived ([[maybe_unused]] const mrpt::containers::yaml &p)

mrpt::system::CTimeLogger &	profiler ()

const mrpt::system::CTimeLogger &	profiler () const

void	setIterationHook (const iteration_hook_t &ih)

void	initialize_solvers (const mrpt::containers::yaml &params)

const solver_list_t &	solvers () const

solver_list_t &	solvers ()

void	initialize_matchers (const mrpt::containers::yaml &params)

const matcher_list_t &	matchers () const

matcher_list_t &	matchers ()

void	initialize_quality_evaluators (const mrpt::containers::yaml &params)

const quality_eval_list_t &	quality_evaluators () const

quality_eval_list_t &	quality_evaluators ()

Static Public Member Functions
static bool	methodAvailable ()

Static Public Member Functions inherited from mp2p_icp::ICP
static void	initialize_solvers (const mrpt::containers::yaml &params, ICP::solver_list_t &lst)

static bool	run_solvers (const solver_list_t &solvers, const Pairings &pairings, OptimalTF_Result &out, const SolverContext &sc={})

static void	initialize_matchers (const mrpt::containers::yaml &params, matcher_list_t &lst)

static void	initialize_quality_evaluators (const mrpt::containers::yaml &params, quality_eval_list_t &lst)

static double	evaluate_quality (const quality_eval_list_t &evaluators, const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const Pairings &finalPairings)

Public Attributes
ParametersLibpointmatcher	parametersLibpointmatcher

Private Attributes
std::string	pm_icp_yaml_settings_

Additional Inherited Members
Public Types inherited from mp2p_icp::ICP
using	iteration_hook_t = std::function< IterationHook_Output(const IterationHook_Input &)>

using	solver_list_t = std::vector< mp2p_icp::Solver::Ptr >

using	quality_eval_list_t = std::vector< QualityEvaluatorEntry >

Static Protected Member Functions inherited from mp2p_icp::ICP
static void	save_log_file (const LogRecord &log, const Parameters &p)

Protected Attributes inherited from mp2p_icp::ICP
iteration_hook_t	iteration_hook_

matcher_list_t	matchers_

mrpt::system::CTimeLogger	profiler_ {false , "mp2p_icp::ICP"}

quality_eval_list_t	quality_evaluators_ = {{QualityEvaluator_PairedRatio::Create(), 1.0}}

solver_list_t	solvers_

Detailed Description

ICP wrapper on libpointmatcher

Definition at line 29 of file ICP_LibPointmatcher.h.

Member Function Documentation

◆ align()

void ICP_LibPointmatcher::align	(	const metric_map_t &	pcLocal,
		const metric_map_t &	pcGlobal,
		const mrpt::math::TPose3D &	initialGuessLocalWrtGlobal,
		const Parameters &	p,
		Results &	result,
		const std::optional< mrpt::poses::CPose3DPDFGaussianInf > &	prior = `std::nullopt`,
		const mrpt::optional_ref< LogRecord > &	outputDebugInfo = `std::nullopt`
	)

overridevirtual

Register (align) two point clouds (possibly after having been preprocessed to extract features, etc.) and returns the relative pose of pcLocal with respect to pcGlobal.

Reimplemented from mp2p_icp::ICP.

Definition at line 74 of file ICP_LibPointmatcher.cpp.

◆ initialize_derived()

void ICP_LibPointmatcher::initialize_derived ( const mrpt::containers::yaml & params )

override

Definition at line 67 of file ICP_LibPointmatcher.cpp.

◆ methodAvailable()

bool ICP_LibPointmatcher::methodAvailable ( )

static

Returns true if mp2p_icp was built with libpointmatcher support.

Definition at line 35 of file ICP_LibPointmatcher.cpp.

Member Data Documentation

◆ parametersLibpointmatcher

ParametersLibpointmatcher mp2p_icp::ICP_LibPointmatcher::parametersLibpointmatcher

Definition at line 56 of file ICP_LibPointmatcher.h.

◆ pm_icp_yaml_settings_

std::string mp2p_icp::ICP_LibPointmatcher::pm_icp_yaml_settings_

private

Definition at line 62 of file ICP_LibPointmatcher.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members