#include <Matcher_Points_DistanceThreshold.h>

Inheritance diagram for mp2p_icp::Matcher_Points_DistanceThreshold:

[legend]

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

	Matcher_Points_DistanceThreshold ()

	Matcher_Points_DistanceThreshold (double distThreshold)

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

Public Attributes
uint32_t	pairingsPerPoint = 1

double	threshold = 0.50

double	thresholdAngularDeg = 0.50

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...

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

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)

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: fixed distance thresholds.

Finds point-to-point 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 especified 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_Points_DistanceThreshold.h.

Constructor & Destructor Documentation

◆ Matcher_Points_DistanceThreshold() [1/2]

Matcher_Points_DistanceThreshold::Matcher_Points_DistanceThreshold ( )

Definition at line 27 of file Matcher_Points_DistanceThreshold.cpp.

◆ Matcher_Points_DistanceThreshold() [2/2]

mp2p_icp::Matcher_Points_DistanceThreshold::Matcher_Points_DistanceThreshold ( double distThreshold )

inline

Definition at line 37 of file Matcher_Points_DistanceThreshold.h.

Member Function Documentation

◆ implMatchOneLayer()

void Matcher_Points_DistanceThreshold::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 43 of file Matcher_Points_DistanceThreshold.cpp.

◆ initialize()

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

overridevirtual

Parameters:

threshold: Inliers distance threshold [meters][mandatory]
pairingsPerPoint: Number of pairings in "global" for each "local" points. Default=1. If more than one, they will be picked in ascending order of distance, up to threshold. [optional].

Plus: the parameters of Matcher_Points_Base::initialize()

Reimplemented from mp2p_icp::Matcher_Points_Base.

Definition at line 33 of file Matcher_Points_DistanceThreshold.cpp.