Class QualityEvaluator_Voxels

• Defined in File QualityEvaluator_Voxels.h

Inheritance Relationships

Base Type

• public mp2p_icp::QualityEvaluator (Class QualityEvaluator)

Class Documentation

class QualityEvaluator_Voxels : public mp2p_icp::QualityEvaluator

Matching quality evaluator: comparison via voxel occupancy.

Public Functions

QualityEvaluator_Voxels()

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

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 override

Finds correspondences between the two point clouds.

Public Members

std::string voxel_layer_name

The name of the input maps layer that is of type CVoxelMap

double dist2quality_scale = 2.0