mp2p_icp::Pairings Struct Reference

#include <Pairings.h>

Public Member Functions
	Pairings ()=default
virtual	~Pairings ()
Methods
virtual bool	empty () const
virtual size_t	size () const
virtual std::string	contents_summary () const
virtual void	push_back (const Pairings &o)
virtual void	push_back (Pairings &&o)
virtual void	serializeTo (mrpt::serialization::CArchive &out) const
virtual void	serializeFrom (mrpt::serialization::CArchive &in)
virtual auto	get_visualization (const mrpt::poses::CPose3D &localWrtGlobal, const pairings_render_params_t &p=pairings_render_params_t()) const -> std::shared_ptr< mrpt::opengl::CSetOfObjects >
virtual void	get_visualization_pt2pt (mrpt::opengl::CSetOfObjects &o, const mrpt::poses::CPose3D &localWrtGlobal, const render_params_pairings_pt2pt_t &p) const
virtual void	get_visualization_pt2pl (mrpt::opengl::CSetOfObjects &o, const mrpt::poses::CPose3D &localWrtGlobal, const render_params_pairings_pt2pl_t &p) const
virtual void	get_visualization_pt2ln (mrpt::opengl::CSetOfObjects &o, const mrpt::poses::CPose3D &localWrtGlobal, const render_params_pairings_pt2ln_t &p) const

Public Attributes
Data fields
mrpt::tfest::TMatchingPairList	paired_pt2pt
MatchedPointLineList	paired_pt2ln
MatchedPointPlaneList	paired_pt2pl
MatchedLineList	paired_ln2ln
MatchedPlaneList	paired_pl2pl
uint64_t	potential_pairings = 0
std::vector< std::pair< std::size_t, double > >	point_weights

Detailed Description

Common pairing input data for OLAE, Horn's, and other solvers. Planes and lines must have unit director and normal vectors, respectively.

Pairings are between a "global" (or "this") and a "local" (or "other") pointcloud, while we are searching for the relative pose of "local" wrt "global", such that "relative_pose \oplus localPoint = globalPoint".

Definition at line 78 of file Pairings.h.

Constructor & Destructor Documentation

Pairings()

mp2p_icp::Pairings::Pairings ( )

default

~Pairings()

Pairings::~Pairings ( )

virtualdefault

Member Function Documentation

contents_summary()

std::string Pairings::contents_summary ( ) const

virtual

Returns a string summarizing all the paired elements

Definition at line 158 of file Pairings.cpp.

empty()

virtual bool mp2p_icp::Pairings::empty ( ) const

inlinevirtual

Definition at line 111 of file Pairings.h.

get_visualization()

auto Pairings::get_visualization ( const mrpt::poses::CPose3D &  localWrtGlobal, const pairings_render_params_t &  p = pairings_render_params_t()  ) const -> std::shared_ptr<mrpt::opengl::CSetOfObjects>

virtual

Gets a renderizable view of all geometric entities.

See render_params_t for options to show/hide the different geometric entities and point layers.

Note

If deriving user classes inheriting from metric_map_t, remember to reimplement this method and call this base class method to render common elements.

Definition at line 175 of file Pairings.cpp.

get_visualization_pt2ln()

void Pairings::get_visualization_pt2ln ( mrpt::opengl::CSetOfObjects &  o, const mrpt::poses::CPose3D &  localWrtGlobal, const render_params_pairings_pt2ln_t &  p  ) const

virtual

Used inside get_visualization(), renders pt-to-ln pairings only.

Definition at line 246 of file Pairings.cpp.

get_visualization_pt2pl()

void Pairings::get_visualization_pt2pl ( mrpt::opengl::CSetOfObjects &  o, const mrpt::poses::CPose3D &  localWrtGlobal, const render_params_pairings_pt2pl_t &  p  ) const

virtual

Used inside get_visualization(), renders pt-to-pl pairings only.

Definition at line 210 of file Pairings.cpp.

get_visualization_pt2pt()

void Pairings::get_visualization_pt2pt ( mrpt::opengl::CSetOfObjects &  o, const mrpt::poses::CPose3D &  localWrtGlobal, const render_params_pairings_pt2pt_t &  p  ) const

virtual

Used inside get_visualization(), renders pt-to-pt pairings only.

Definition at line 191 of file Pairings.cpp.

push_back() [1/2]

void Pairings::push_back ( const Pairings &  o )

virtual

Copy and append pairings from another container.

Definition at line 121 of file Pairings.cpp.

push_back() [2/2]

void Pairings::push_back ( Pairings &&  o )

virtual

Move pairings from another container.

Definition at line 131 of file Pairings.cpp.

serializeFrom()

void Pairings::serializeFrom ( mrpt::serialization::CArchive &  in )

virtual

Definition at line 37 of file Pairings.cpp.

serializeTo()

void Pairings::serializeTo ( mrpt::serialization::CArchive &  out ) const

virtual

Definition at line 28 of file Pairings.cpp.

size()

size_t Pairings::size ( ) const

virtual

Overall number of element-to-element pairings (points, lines, planes)

Definition at line 141 of file Pairings.cpp.

Member Data Documentation

paired_ln2ln

MatchedLineList mp2p_icp::Pairings::paired_ln2ln

Definition at line 91 of file Pairings.h.

paired_pl2pl

MatchedPlaneList mp2p_icp::Pairings::paired_pl2pl

Definition at line 92 of file Pairings.h.

paired_pt2ln

MatchedPointLineList mp2p_icp::Pairings::paired_pt2ln

Definition at line 89 of file Pairings.h.

paired_pt2pl

MatchedPointPlaneList mp2p_icp::Pairings::paired_pt2pl

Definition at line 90 of file Pairings.h.

paired_pt2pt

mrpt::tfest::TMatchingPairList mp2p_icp::Pairings::paired_pt2pt

We reuse MRPT struct to allow using their matching functions.

Note

on MRPT naming convention: "this"=global; "other"=local.

Definition at line 88 of file Pairings.h.

point_weights

std::vector<std::pair<std::size_t, double> > mp2p_icp::Pairings::point_weights

Individual weights for paired_pt2pt: each entry specifies how many points have the given (mapped second value) weight, in the same order as stored in paired_pt2pt. If empty, all points will have equal weights.

Definition at line 104 of file Pairings.h.

potential_pairings

uint64_t mp2p_icp::Pairings::potential_pairings = 0

Each Matcher will add pairings in the fields above, and will increment this potential_pairings with the maximum number of potential pairings that it might have found. That is, the ratio of successful pairings is this->size() / double(potential_pairings).

Definition at line 98 of file Pairings.h.

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

• Pairings.h
• Pairings.cpp