Class Matcher_Adaptive

Inheritance Relationships

Base Type

Class Documentation

class Matcher_Adaptive : public mp2p_icp::Matcher_Points_Base

Pointcloud matcher: adaptive algorithm automatically discarding outliers, and creating point-to-plane, point-to-line, or point-to-point pairings.

Finds 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 specified otherwise in the base class member weight_pt2pt_layers. Refer to example configuration YAML files for example configurations.

Public Functions

Matcher_Adaptive() = default
inline Matcher_Adaptive(double ConfidenceInterval, double FirstToSecondDistanceMax, double AbsoluteMaxSearchDistance)
virtual void initialize(const mrpt::containers::yaml &params) override

Parameters:

  • confidenceInterval: Inliers top-confidence interval. (0-1)

  • firstToSecondDistanceMax:

  • absoluteMaxSearchDistance:

Plus: the parameters of Matcher_Points_Base::initialize()