Class Matcher_Point2Line

Inheritance Relationships

Base Type

Class Documentation

class Matcher_Point2Line : public mp2p_icp::Matcher_Points_Base

Pointcloud matcher: point to plane-fit of nearby points

Finds point-to-line pairings between local point layers and points fitting a line in layers of the global input metric map.

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_Point2Line()
virtual void initialize(const mrpt::containers::yaml &params) override

Parameters:

  • distanceThreshold: Inliers distance threshold [meters][mandatory]

  • knn: Number of neighbors to look for [mandatory]

  • minimumLinePoints: Minimum number of found points [mandatory]

  • lineEigenThreshold: maximum e0/e2 and e1/e2 ratio [mandatory]

Where [e0, e1, e2] are the smallest to largest eigenvalues of the Gaussian covariance fitting the knn closest global points for each local point.

Plus: the parameters of Matcher_Points_Base::initialize()