#include <Matcher_Points_Base.h>

Inheritance diagram for mp2p_icp::Matcher_Points_Base:

[legend]

Classes
struct	TransformedLocalPointCloud

Public Member Functions
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...

Static Public Member Functions
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
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
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...

Private Member Functions
virtual 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 =0

Detailed Description

Pointcloud matcher auxiliary class for iterating over point layers.

The common to all matchers working on points in the local input metric map. See derived classes for possible generated pairings.

Definition at line 31 of file Matcher_Points_Base.h.

Constructor & Destructor Documentation

◆ Matcher_Points_Base()

mp2p_icp::Matcher_Points_Base::Matcher_Points_Base ( )

default

Member Function Documentation

◆ impl_match()

bool Matcher_Points_Base::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

finaloverrideprotectedvirtual

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

Implements mp2p_icp::Matcher.

Definition at line 22 of file Matcher_Points_Base.cpp.

◆ implMatchOneLayer()

virtual void mp2p_icp::Matcher_Points_Base::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

privatepure virtual

Implemented in mp2p_icp::Matcher_Adaptive, mp2p_icp::Matcher_Points_DistanceThreshold, mp2p_icp::Matcher_Point2Line, mp2p_icp::Matcher_Points_InlierRatio, and mp2p_icp::Matcher_Point2Plane.

◆ initialize()

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

overridevirtual

Common parameters to all derived classes:

maxLocalPointsPerLayer: Maximum number of local points to consider for the "local" point cloud, per point layer. "0" means "all" (no decimation) [Default=0].
localPointsSampleSeed: Only if maxLocalPointsPerLayer!=0, and the number of points in the local map is larger than that number, a seed for the RNG used to pick random point indices. 0 (default) means to use a time-based seed.
pointLayerMatches: Optional map of layer names to relative weights. Refer to example YAML files.
allowMatchAlreadyMatchedPoints: Optional (Default=false). Whether to find matches for local points which were already paired by other matcher in an earlier stage in the matchers pipeline.
bounding_box_intersection_check_epsilon: Optional (Default=0.20). The additional "margin" in all axes (x,y,z) that bounding box is enlarged for checking the feasibility of pairings to exist.

Reimplemented from mp2p_icp::Matcher.

Reimplemented in mp2p_icp::Matcher_Points_DistanceThreshold, and mp2p_icp::Matcher_Points_InlierRatio.

Definition at line 120 of file Matcher_Points_Base.cpp.

◆ transform_local_to_global()

Matcher_Points_Base::TransformedLocalPointCloud Matcher_Points_Base::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`
	)

static

Definition at line 174 of file Matcher_Points_Base.cpp.

Member Data Documentation

◆ allowMatchAlreadyMatchedGlobalPoints_

bool mp2p_icp::Matcher_Points_Base::allowMatchAlreadyMatchedGlobalPoints_ = false

If false, global map points can be paired exclusively against one local point.

Definition at line 56 of file Matcher_Points_Base.h.

◆ allowMatchAlreadyMatchedPoints_

bool mp2p_icp::Matcher_Points_Base::allowMatchAlreadyMatchedPoints_ = false

Whether to allow matching local points that have been already matched by a former Matcher instance in the pipeline.

Definition at line 52 of file Matcher_Points_Base.h.

◆ bounding_box_intersection_check_epsilon_

double mp2p_icp::Matcher_Points_Base::bounding_box_intersection_check_epsilon_ = 0.20

The additional "margin" in all axes (x,y,z) that bounding box is enlarged for checking the feasibility of pairings to exist.

Definition at line 63 of file Matcher_Points_Base.h.

◆ kdtree_leaf_max_points_

std::optional<std::size_t> mp2p_icp::Matcher_Points_Base::kdtree_leaf_max_points_

Maximum number of points per tree node. Not set: nanoflann default.

Definition at line 59 of file Matcher_Points_Base.h.

◆ localPointsSampleSeed_

uint64_t mp2p_icp::Matcher_Points_Base::localPointsSampleSeed_ = 0

Definition at line 48 of file Matcher_Points_Base.h.

◆ maxLocalPointsPerLayer_

uint64_t mp2p_icp::Matcher_Points_Base::maxLocalPointsPerLayer_ = 0

Definition at line 47 of file Matcher_Points_Base.h.

◆ weight_pt2pt_layers

std::map<std::string, std::map<std::string, double> > mp2p_icp::Matcher_Points_Base::weight_pt2pt_layers

Weights for each potential Local->Global point layer matching. If empty, the output Pairings::point_weights will left empty (=all points have equal weight).

Note: Note: this field can be loaded from a configuration file via initializeLayerWeights().; Map is: w["globalLayer"]["localLayer"]=weight;

Definition at line 45 of file Matcher_Points_Base.h.

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

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Private Member Functions