#include <QualityEvaluator_RangeImageSimilarity.h>

Inheritance diagram for mp2p_icp::QualityEvaluator_RangeImageSimilarity:

[legend]

Public Member Functions
Result	evaluate (const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const Pairings &pairingsFromICP) const override

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

mrpt::math::CMatrixDouble	projectPoints (const mrpt::maps::CPointsMap &pts, const std::optional< mrpt::poses::CPose3D > &relativePose=std::nullopt) const

std::vector< double >	scores (const mrpt::math::CMatrixDouble &m1, const mrpt::math::CMatrixDouble &m2) 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	debug_save_all_matrices = false

bool	debug_show_all_in_window = false

double	penalty_not_visible = 2.0
	!< Uncertainty of depth ranges [meters] More...

mrpt::img::TCamera	rangeCamera

double	sigma = 0.1

Additional Inherited Members
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

Matching quality evaluator: simple ratio [0,1] of paired entities.

Implementation of the method in the papper:

"Analyzing the Quality of Matched 3D Point Clouds of Objects", Igor Bogoslavskyi, Cyrill Stachniss, IROS 2017.

This implementation reprojects points into range images with the resolution defined in parameters and compares the likelihood of both range images to be generated from the same point clouds.

At present, the PT_LAYER_RAW layer of points is the only one that is used to evaluate the depth images.

Definition at line 35 of file QualityEvaluator_RangeImageSimilarity.h.

Member Function Documentation

◆ evaluate()

QualityEvaluator::Result QualityEvaluator_RangeImageSimilarity::evaluate	(	const metric_map_t &	pcGlobal,
		const metric_map_t &	pcLocal,
		const mrpt::poses::CPose3D &	localPose,
		const Pairings &	pairingsFromICP
	)		const

overridevirtual

See base class. This implementation does NOT use pairingsFromICP at all, it can be empty.

Implements mp2p_icp::QualityEvaluator.

Definition at line 41 of file QualityEvaluator_RangeImageSimilarity.cpp.

◆ initialize()

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

overridevirtual

See base class. Parameters:

ncols: 200
nrows: 100
cx: 100
cy: 50
fx: 50
fy: 50
sigma: 0.1
#debug_show_all_in_window: false

Implements mp2p_icp::QualityEvaluator.

Definition at line 23 of file QualityEvaluator_RangeImageSimilarity.cpp.

◆ projectPoints()

mrpt::math::CMatrixDouble QualityEvaluator_RangeImageSimilarity::projectPoints	(	const mrpt::maps::CPointsMap &	pts,
		const std::optional< mrpt::poses::CPose3D > &	relativePose = `std::nullopt`
	)		const