#include <Matcher.h>

Inheritance diagram for mp2p_icp::Matcher:

[legend]

Public Member Functions
virtual void	initialize (const mrpt::containers::yaml &params)

virtual bool	match (const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const MatchContext &mc, MatchState &ms, Pairings &out) const

Public Member Functions inherited from mp2p_icp::Parameterizable
ParameterSource *	attachedSource ()

const ParameterSource *	attachedSource () const

virtual void	attachToParameterSource (ParameterSource &source)

void	checkAllParametersAreRealized () const

auto &	declaredParameters ()

const auto &	declaredParameters () const

void	unrealizeParameters ()
	Mark all non-constant parameters as non-evaluated again. More...

Public Attributes
bool	enabled = true

uint32_t	runFromIteration = 0

uint32_t	runUpToIteration = 0
	0: no limit More...

Protected Member Functions
virtual bool	impl_match (const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const MatchContext &mc, MatchState &ms, Pairings &out) const =0

Protected Member Functions inherited from mp2p_icp::Parameterizable
void	parseAndDeclareParameter (const std::string &value, double &target)

void	parseAndDeclareParameter (const std::string &value, float &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

void	parseAndDeclareParameter (const std::string &value, uint32_t &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Detailed Description

Pointcloud matching generic base class. Each "matcher" implementation takes a global ("reference") metric_map_t and another local ("mobile") metric_map_t which is assumed to be placed in a hypothetical SE(3) pose in the global frame, and generates pairings between the geometric entities (points, planes, etc.) of both groups.

Definition at line 73 of file Matcher.h.

Member Function Documentation

◆ impl_match()

virtual bool mp2p_icp::Matcher::impl_match	(	const metric_map_t &	pcGlobal,
		const metric_map_t &	pcLocal,
		const mrpt::poses::CPose3D &	localPose,
		const MatchContext &	mc,
		MatchState &	ms,
		Pairings &	out
	)		const

protectedpure virtual

Returns: true if the mather is actually invoked, false if disabled.

Implemented in mp2p_icp::Matcher_Points_Base.

◆ initialize()

void Matcher::initialize ( const mrpt::containers::yaml & params )

virtual

Check each derived class to see required and optional parameters.

Reimplemented in mp2p_icp::Matcher_Points_Base, mp2p_icp::Matcher_Adaptive, mp2p_icp::Matcher_Points_DistanceThreshold, mp2p_icp::Matcher_Point2Line, mp2p_icp::Matcher_Points_InlierRatio, and mp2p_icp::Matcher_Point2Plane.

Definition at line 20 of file mp2p_icp/src/Matcher.cpp.

◆ match()

bool Matcher::match	(	const metric_map_t &	pcGlobal,
		const metric_map_t &	pcLocal,
		const mrpt::poses::CPose3D &	localPose,
		const MatchContext &	mc,
		MatchState &	ms,
		Pairings &	out
	)		const

virtual

Finds correspondences between the two point clouds. "out" is not cleared, but new pairings added to it.

Returns: false if the matcher is disabled and was not actually run.

Definition at line 27 of file mp2p_icp/src/Matcher.cpp.

Member Data Documentation

◆ enabled

bool mp2p_icp::Matcher::enabled = true

Definition at line 98 of file Matcher.h.

◆ runFromIteration

uint32_t mp2p_icp::Matcher::runFromIteration = 0

Definition at line 96 of file Matcher.h.

◆ runUpToIteration

uint32_t mp2p_icp::Matcher::runUpToIteration = 0

0: no limit

Definition at line 97 of file Matcher.h.

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

Public Member Functions

Public Attributes

Protected Member Functions