Class QualityEvaluator

Defined in File QualityEvaluator.h

Nested Relationships

Nested Types

Struct QualityEvaluator::Result

Inheritance Relationships

Base Types

public mrpt::system::COutputLogger
public mrpt::rtti::CObject
public mp2p_icp::Parameterizable

Derived Types

public mp2p_icp::QualityEvaluator_PairedRatio (Class QualityEvaluator_PairedRatio)
public mp2p_icp::QualityEvaluator_RangeImageSimilarity (Class QualityEvaluator_RangeImageSimilarity)
public mp2p_icp::QualityEvaluator_Voxels (Class QualityEvaluator_Voxels)

Class Documentation

class QualityEvaluator : public mrpt::system::COutputLogger, public mrpt::rtti::CObject, public mp2p_icp::Parameterizable

Matching quality evaluator (virtual base class)

Subclassed by mp2p_icp::QualityEvaluator_PairedRatio, mp2p_icp::QualityEvaluator_RangeImageSimilarity, mp2p_icp::QualityEvaluator_Voxels

Public Functions

virtual void initialize(const mrpt::containers::yaml &params) = 0: Check each derived class to see required and optional parameters.

virtual Result evaluate(const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const Pairings &pairingsFromICP) const = 0: Finds correspondences between the two point clouds.

struct Result

Public Members

double quality = .0: The resulting quality measure, in the range [0,1].

bool hard_discard = false: If true, the match is bad and all other quality measurements should be discarded