Class QualityEvaluator_PairedRatio

Inheritance Relationships

Base Type

Class Documentation

class QualityEvaluator_PairedRatio : public mp2p_icp::QualityEvaluator

Matching quality evaluator: simple ratio [0,1] of paired entities, using either an independent Matcher_Points_DistanceThreshold object, or (faster) directly from the ratio of found pairings in the last ICP step if reuse_icp_pairings is true, the default.

Public Functions

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

See base class. Parameters:

reuse_icp_pairings: true # Default=true (no more params then required)
#thresholdDistance: 0.10
#thresholdAngularDeg: 0
virtual Result evaluate(const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const Pairings &pairingsFromICP) const override

Finds correspondences between the two point clouds.

inline void attachToParameterSource(ParameterSource &source) override