#include <Matcher_Point2Line.h>

Inheritance diagram for mp2p_icp::Matcher_Point2Line:

[legend]

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

	Matcher_Point2Line ()

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	distanceThreshold = 0.50

uint32_t	knn = 4

double	lineEigenThreshold = 0.01

uint32_t	minimumLinePoints = 4

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: point to plane-fit of nearby points

Finds point-to-line pairings between local point layers and points fitting a line in layers of the global input metric map.

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 30 of file Matcher_Point2Line.h.

Constructor & Destructor Documentation

◆ Matcher_Point2Line()

Matcher_Point2Line::Matcher_Point2Line ( )

Definition at line 23 of file Matcher_Point2Line.cpp.

Member Function Documentation

◆ implMatchOneLayer()

void Matcher_Point2Line::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 39 of file Matcher_Point2Line.cpp.

◆ initialize()

void Matcher_Point2Line::initialize ( const mrpt::containers::yaml & params )

overridevirtual

Parameters:

distanceThreshold: Inliers distance threshold [meters][mandatory]
knn: Number of neighbors to look for [mandatory]
minimumLinePoints: Minimum number of found points [mandatory]
lineEigenThreshold: maximum e0/e2 and e1/e2 ratio [mandatory]

Where [e0, e1, e2] are the smallest to largest eigenvalues of the Gaussian covariance fitting the knn closest global points for each local point.

Plus: the parameters of Matcher_Points_Base::initialize()

Reimplemented from mp2p_icp::Matcher.

Definition at line 28 of file Matcher_Point2Line.cpp.

Member Data Documentation

◆ distanceThreshold

double mp2p_icp::Matcher_Point2Line::distanceThreshold = 0.50

private

Definition at line 52 of file Matcher_Point2Line.h.

◆ knn

uint32_t mp2p_icp::Matcher_Point2Line::knn = 4

private

Definition at line 53 of file Matcher_Point2Line.h.

◆ lineEigenThreshold

double mp2p_icp::Matcher_Point2Line::lineEigenThreshold = 0.01

private

Definition at line 55 of file Matcher_Point2Line.h.

◆ minimumLinePoints

uint32_t mp2p_icp::Matcher_Point2Line::minimumLinePoints = 4

private

Definition at line 54 of file Matcher_Point2Line.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Matcher_Point2Line()

Member Function Documentation

◆ implMatchOneLayer()

◆ initialize()

Member Data Documentation

◆ distanceThreshold

◆ knn

◆ lineEigenThreshold

◆ minimumLinePoints