mp2p_icp::Matcher_Point2Plane Class Reference

#include <Matcher_Point2Plane.h>

Inheritance diagram for mp2p_icp::Matcher_Point2Plane:

Public Member Functions
void	initialize (const mrpt::containers::yaml &params) override
	Matcher_Point2Plane ()
Public Member Functions inherited from mp2p_icp::Matcher_Points_Base
void	initialize (const mrpt::containers::yaml &params) override
	Matcher_Points_Base ()=default
Public Member Functions inherited from mp2p_icp::Matcher
virtual bool	match (const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const MatchContext &mc, MatchState &ms, Pairings &out) const

Private Member Functions
void	implMatchOneLayer (const mrpt::maps::CMetricMap &pcGlobal, const mrpt::maps::CPointsMap &pcLocal, const mrpt::poses::CPose3D &localPose, MatchState &ms, const layer_name_t &globalName, const layer_name_t &localName, Pairings &out) const override

Private Attributes
double	distanceThreshold = 0.50
uint32_t	knn = 5
bool	localPointMustFitPlaneToo = false
double	localToGlobalPlaneMinAbsCosine = 0.8
uint32_t	minimumPlanePoints = 5
double	planeEigenThreshold = 0.01
double	searchRadius = 0.50

Additional Inherited Members
Static Public Member Functions inherited from mp2p_icp::Matcher_Points_Base
static TransformedLocalPointCloud	transform_local_to_global (const mrpt::maps::CPointsMap &pcLocal, const mrpt::poses::CPose3D &localPose, const std::size_t maxLocalPoints=0, const uint64_t localPointsSampleSeed=0)
Public Attributes inherited from mp2p_icp::Matcher_Points_Base
bool	allowMatchAlreadyMatchedGlobalPoints_ = false
bool	allowMatchAlreadyMatchedPoints_ = false
std::optional< std::size_t >	kdtree_leaf_max_points_
uint64_t	localPointsSampleSeed_ = 0
uint64_t	maxLocalPointsPerLayer_ = 0
std::map< std::string, std::map< std::string, double > >	weight_pt2pt_layers
Public Attributes inherited from mp2p_icp::Matcher
uint32_t	runFromIteration = 0
uint32_t	runUpToIteration = 0
	0: no limit More...
Protected Member Functions inherited from mp2p_icp::Matcher_Points_Base
bool	impl_match (const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const MatchContext &mc, MatchState &ms, Pairings &out) const override final

Detailed Description

Pointcloud matcher: point to plane-fit of nearby points

Finds point-to-plane pairings between local point layers and points fitting a plane 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 especified otherwise in the base class member weight_pt2pt_layers. Refer to example configuration YAML files for example configurations.

Definition at line 30 of file Matcher_Point2Plane.h.

Constructor & Destructor Documentation

Matcher_Point2Plane()

Matcher_Point2Plane::Matcher_Point2Plane

(

)

Definition at line 23 of file Matcher_Point2Plane.cpp.

Member Function Documentation

implMatchOneLayer()

void Matcher_Point2Plane::implMatchOneLayer ( const mrpt::maps::CMetricMap &  pcGlobal, const mrpt::maps::CPointsMap &  pcLocal, const mrpt::poses::CPose3D &  localPose, MatchState &  ms, const layer_name_t &  globalName, const layer_name_t &  localName, Pairings &  out  ) const

overrideprivatevirtual

Implements mp2p_icp::Matcher_Points_Base.

Definition at line 68 of file Matcher_Point2Plane.cpp.

initialize()

void Matcher_Point2Plane::initialize ( const mrpt::containers::yaml &  params )

overridevirtual

Parameters:

• distanceThreshold: Max. inliers pt-plane distance [meters][mandatory]
• knn: Number of neighbors to look for [mandatory]
• minimumPlanePoints: Minimum number of found points [mandatory]
• searchRadius: Max radius search for neighbors [meters][mandatory]
• planeEigenThreshold: maximum e0/e2 ratio [mandatory]
• localPointMustFitPlaneToo: if true, each local point must also fulfill the plane-like condition to generate a pt-plane pairing [optional] (Default: false)
• localToGlobalPlaneMinAbsCosine: If localPointMustFitPlaneToo is true, the minimum absolute value of the cosine of the plane-to-plane angles to generate a valid pairing optional

Where e0 and e2 are the smallest and largest eigenvalues of the Gaussian covariance fitting the knn closest global points for each local point.

Plus: the parameters of Matcher_Points_Base::initialize()

Reimplemented from mp2p_icp::Matcher.

Definition at line 28 of file Matcher_Point2Plane.cpp.

Member Data Documentation

distanceThreshold

double mp2p_icp::Matcher_Point2Plane::distanceThreshold = 0.50

private

Definition at line 58 of file Matcher_Point2Plane.h.

knn

uint32_t mp2p_icp::Matcher_Point2Plane::knn = 5

private

Definition at line 60 of file Matcher_Point2Plane.h.

localPointMustFitPlaneToo

bool mp2p_icp::Matcher_Point2Plane::localPointMustFitPlaneToo = false

private

Definition at line 63 of file Matcher_Point2Plane.h.

localToGlobalPlaneMinAbsCosine

double mp2p_icp::Matcher_Point2Plane::localToGlobalPlaneMinAbsCosine = 0.8

private

Definition at line 64 of file Matcher_Point2Plane.h.

minimumPlanePoints

uint32_t mp2p_icp::Matcher_Point2Plane::minimumPlanePoints = 5

private

Definition at line 61 of file Matcher_Point2Plane.h.

planeEigenThreshold

double mp2p_icp::Matcher_Point2Plane::planeEigenThreshold = 0.01

private

Definition at line 62 of file Matcher_Point2Plane.h.

searchRadius

double mp2p_icp::Matcher_Point2Plane::searchRadius = 0.50

private

Definition at line 59 of file Matcher_Point2Plane.h.

---

The documentation for this class was generated from the following files:

• Matcher_Point2Plane.h
• Matcher_Point2Plane.cpp