Class Matcher_Points_DistanceThreshold

Defined in File Matcher_Points_DistanceThreshold.h

Inheritance Relationships

Base Type

public mp2p_icp::Matcher_Points_Base (Class Matcher_Points_Base)

Class Documentation

class Matcher_Points_DistanceThreshold : public mp2p_icp::Matcher_Points_Base 

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.

Public Functions

Matcher_Points_DistanceThreshold()

inline Matcher_Points_DistanceThreshold(double distThreshold)

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

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()

Public Members

double threshold = 0.50

double thresholdAngularDeg = 0.50

uint32_t pairingsPerPoint = 1