#include <Matcher_Adaptive.h>

Inheritance diagram for mp2p_icp::Matcher_Adaptive:

[legend]

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

	Matcher_Adaptive ()=default

	Matcher_Adaptive (double ConfidenceInterval, double FirstToSecondDistanceMax, double AbsoluteMaxSearchDistance)

Public Member Functions inherited from mp2p_icp::Matcher_Points_Base
void	initialize (const mrpt::containers::yaml &params) override

	Matcher_Points_Base ()=default

Public Member Functions inherited from mp2p_icp::Matcher
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...

Private Member Functions
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

Private Attributes
double	absoluteMaxSearchDistance = 5.0

double	confidenceInterval = 0.80

bool	enableDetectPlanes = false

double	firstToSecondDistanceMax = 1.2

std::vector< double >	histValues_

std::vector< double >	histXs_

std::vector< float >	kddXs

std::vector< float >	kddYs

std::vector< float >	kddZs

std::vector< mrpt::containers::vector_with_small_size_optimization< mrpt::tfest::TMatchingPair, MAX_CORRS_PER_LOCAL > >	matchesPerLocal_

uint32_t	maxPt2PtCorrespondences = 1

double	minimumCorrDist = 0.1

std::vector< uint64_t >	neighborIndices_

std::vector< mrpt::math::TPoint3Df >	neighborPts_

std::vector< float >	neighborSqrDists_

double	planeEigenThreshold = 0.01

double	planeMinimumDistance = 0.10

uint32_t	planeMinimumFoundPoints = 4

uint32_t	planeSearchPoints = 8

Static Private Attributes
constexpr static size_t	MAX_CORRS_PER_LOCAL = 10

Additional Inherited Members
Static Public Member Functions inherited from mp2p_icp::Matcher_Points_Base
static TransformedLocalPointCloud	transform_local_to_global (const mrpt::maps::CPointsMap &pcLocal, const mrpt::poses::CPose3D &localPose, const std::size_t maxLocalPoints=0, const uint64_t localPointsSampleSeed=0)

Public Attributes inherited from mp2p_icp::Matcher_Points_Base
bool	allowMatchAlreadyMatchedGlobalPoints_ = false

bool	allowMatchAlreadyMatchedPoints_ = false

double	bounding_box_intersection_check_epsilon_ = 0.20

std::optional< std::size_t >	kdtree_leaf_max_points_

uint64_t	localPointsSampleSeed_ = 0

uint64_t	maxLocalPointsPerLayer_ = 0

std::map< std::string, std::map< std::string, double > >	weight_pt2pt_layers

Public Attributes inherited from mp2p_icp::Matcher
bool	enabled = true

uint32_t	runFromIteration = 0

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

Protected Member Functions inherited from mp2p_icp::Matcher_Points_Base
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 override final

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 matcher: adaptive algorithm automatically discarding outliers, and creating point-to-plane, point-to-line, or point-to-point pairings.

Finds pairings between the local and global input metric maps.

By default, each local point layer is matched against the layer with the same name in the global map, unless specified otherwise in the base class member weight_pt2pt_layers. Refer to example configuration YAML files for example configurations.

Definition at line 31 of file Matcher_Adaptive.h.

Constructor & Destructor Documentation

◆ Matcher_Adaptive() [1/2]

mp2p_icp::Matcher_Adaptive::Matcher_Adaptive ( )

default

◆ Matcher_Adaptive() [2/2]

mp2p_icp::Matcher_Adaptive::Matcher_Adaptive	(	double	ConfidenceInterval,
		double	FirstToSecondDistanceMax,
		double	AbsoluteMaxSearchDistance
	)

inline

Definition at line 38 of file Matcher_Adaptive.h.

Member Function Documentation

◆ implMatchOneLayer()

void Matcher_Adaptive::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

overrideprivatevirtual

Implements mp2p_icp::Matcher_Points_Base.

Definition at line 52 of file Matcher_Adaptive.cpp.

◆ initialize()

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

overridevirtual

Parameters:

confidenceInterval: Inliers top-confidence interval. (0-1)
firstToSecondDistanceMax:
absoluteMaxSearchDistance:

Plus: the parameters of Matcher_Points_Base::initialize()

Reimplemented from mp2p_icp::Matcher.

Definition at line 25 of file Matcher_Adaptive.cpp.

Member Data Documentation

◆ absoluteMaxSearchDistance

double mp2p_icp::Matcher_Adaptive::absoluteMaxSearchDistance = 5.0

mutableprivate

Definition at line 60 of file Matcher_Adaptive.h.

◆ confidenceInterval

double mp2p_icp::Matcher_Adaptive::confidenceInterval = 0.80

private

Definition at line 58 of file Matcher_Adaptive.h.

◆ enableDetectPlanes

bool mp2p_icp::Matcher_Adaptive::enableDetectPlanes = false

private

Definition at line 61 of file Matcher_Adaptive.h.

◆ firstToSecondDistanceMax

double mp2p_icp::Matcher_Adaptive::firstToSecondDistanceMax = 1.2

private

Definition at line 59 of file Matcher_Adaptive.h.

◆ histValues_

std::vector<double> mp2p_icp::Matcher_Adaptive::histValues_

private

Definition at line 74 of file Matcher_Adaptive.h.

◆ histXs_

std::vector<double> mp2p_icp::Matcher_Adaptive::histXs_

mutableprivate

Definition at line 74 of file Matcher_Adaptive.h.

◆ kddXs

std::vector<float> mp2p_icp::Matcher_Adaptive::kddXs

mutableprivate

Definition at line 73 of file Matcher_Adaptive.h.

◆ kddYs

std::vector<float> mp2p_icp::Matcher_Adaptive::kddYs

private

Definition at line 73 of file Matcher_Adaptive.h.

◆ kddZs

std::vector<float> mp2p_icp::Matcher_Adaptive::kddZs

private

Definition at line 73 of file Matcher_Adaptive.h.

◆ matchesPerLocal_

std::vector<mrpt::containers::vector_with_small_size_optimization< mrpt::tfest::TMatchingPair, MAX_CORRS_PER_LOCAL> > mp2p_icp::Matcher_Adaptive::matchesPerLocal_

mutableprivate

Definition at line 80 of file Matcher_Adaptive.h.

◆ MAX_CORRS_PER_LOCAL

constexpr static size_t mp2p_icp::Matcher_Adaptive::MAX_CORRS_PER_LOCAL = 10

staticconstexprprivate

Definition at line 76 of file Matcher_Adaptive.h.

◆ maxPt2PtCorrespondences

uint32_t mp2p_icp::Matcher_Adaptive::maxPt2PtCorrespondences = 1

private

Definition at line 62 of file Matcher_Adaptive.h.

◆ minimumCorrDist

double mp2p_icp::Matcher_Adaptive::minimumCorrDist = 0.1

private

Definition at line 67 of file Matcher_Adaptive.h.

◆ neighborIndices_

std::vector<uint64_t> mp2p_icp::Matcher_Adaptive::neighborIndices_

mutableprivate

Definition at line 70 of file Matcher_Adaptive.h.

◆ neighborPts_

std::vector<mrpt::math::TPoint3Df> mp2p_icp::Matcher_Adaptive::neighborPts_

mutableprivate

Definition at line 72 of file Matcher_Adaptive.h.

◆ neighborSqrDists_

std::vector<float> mp2p_icp::Matcher_Adaptive::neighborSqrDists_

mutableprivate

Definition at line 71 of file Matcher_Adaptive.h.

◆ planeEigenThreshold

double mp2p_icp::Matcher_Adaptive::planeEigenThreshold = 0.01

private

Definition at line 66 of file Matcher_Adaptive.h.

◆ planeMinimumDistance

double mp2p_icp::Matcher_Adaptive::planeMinimumDistance = 0.10

private

Definition at line 65 of file Matcher_Adaptive.h.

◆ planeMinimumFoundPoints

uint32_t mp2p_icp::Matcher_Adaptive::planeMinimumFoundPoints = 4

private

Definition at line 64 of file Matcher_Adaptive.h.

◆ planeSearchPoints

uint32_t mp2p_icp::Matcher_Adaptive::planeSearchPoints = 8

private

Definition at line 63 of file Matcher_Adaptive.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Matcher_Adaptive() [1/2]

◆ Matcher_Adaptive() [2/2]

Member Function Documentation

◆ implMatchOneLayer()

◆ initialize()

Member Data Documentation

◆ absoluteMaxSearchDistance

◆ confidenceInterval

◆ enableDetectPlanes

◆ firstToSecondDistanceMax

◆ histValues_

◆ histXs_

◆ kddXs

◆ kddYs

◆ kddZs

◆ matchesPerLocal_

◆ MAX_CORRS_PER_LOCAL

◆ maxPt2PtCorrespondences

◆ minimumCorrDist

◆ neighborIndices_

◆ neighborPts_

◆ neighborSqrDists_

◆ planeEigenThreshold

◆ planeMinimumDistance

◆ planeMinimumFoundPoints

◆ planeSearchPoints