#include <QualityEvaluator_Voxels.h>

Inheritance diagram for mp2p_icp::QualityEvaluator_Voxels:

[legend]

Public Member Functions
double	evaluate (const metric_map_t &pcGlobal, const metric_map_t &pcLocal, const mrpt::poses::CPose3D &localPose, const Pairings &pairingsFromICP) const override

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

	QualityEvaluator_Voxels ()

Public Attributes
double	dist2quality_scale = 0.1

double	maxFreenessUpdateCertainty = 0.55
	<[0.5,1.0] More...

double	maxOccupancyUpdateCertainty = 0.65

std::set< std::string >	pointLayers = {mp2p_icp::metric_map_t::PT_LAYER_RAW}

double	resolution = 0.25
	voxel size [meters] More...

Detailed Description

Matching quality evaluator: comparison via voxel occupancy.

Definition at line 22 of file QualityEvaluator_Voxels.h.

Constructor & Destructor Documentation

◆ QualityEvaluator_Voxels()

QualityEvaluator_Voxels::QualityEvaluator_Voxels ( )

Definition at line 22 of file QualityEvaluator_Voxels.cpp.

Member Function Documentation

◆ evaluate()

double QualityEvaluator_Voxels::evaluate	(	const metric_map_t &	pcGlobal,
		const metric_map_t &	pcLocal,
		const mrpt::poses::CPose3D &	localPose,
		const Pairings &	pairingsFromICP
	)		const

overridevirtual

Finds correspondences between the two point clouds.

Implements mp2p_icp::QualityEvaluator.

Definition at line 53 of file QualityEvaluator_Voxels.cpp.

◆ initialize()

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

overridevirtual

Check each derived class to see required and optional parameters.

Implements mp2p_icp::QualityEvaluator.

Definition at line 27 of file QualityEvaluator_Voxels.cpp.

Member Data Documentation

◆ dist2quality_scale

double mp2p_icp::QualityEvaluator_Voxels::dist2quality_scale = 0.1

Definition at line 39 of file QualityEvaluator_Voxels.h.

◆ maxFreenessUpdateCertainty

double mp2p_icp::QualityEvaluator_Voxels::maxFreenessUpdateCertainty = 0.55

<[0.5,1.0]

Definition at line 38 of file QualityEvaluator_Voxels.h.

◆ maxOccupancyUpdateCertainty

double mp2p_icp::QualityEvaluator_Voxels::maxOccupancyUpdateCertainty = 0.65

Definition at line 37 of file QualityEvaluator_Voxels.h.

◆ pointLayers

std::set<std::string> mp2p_icp::QualityEvaluator_Voxels::pointLayers = {mp2p_icp::metric_map_t::PT_LAYER_RAW}

Evaluate points only in these layers

Definition at line 42 of file QualityEvaluator_Voxels.h.

◆ resolution

double mp2p_icp::QualityEvaluator_Voxels::resolution = 0.25

voxel size [meters]

Definition at line 36 of file QualityEvaluator_Voxels.h.

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

Public Member Functions

Public Attributes