Class Matcher_Cov2Cov

Inheritance Relationships

Base Type

Class Documentation

class Matcher_Cov2Cov : public mp2p_icp::Matcher

Point-to-point with associated local covariance matcher.

Both maps (local and global layers) must implement the mp2p_icp::NearestPointWithCovCapable interface.

Public Functions

Matcher_Cov2Cov() = default
virtual void initialize(const mrpt::containers::yaml &params) override

Common parameters to all derived classes:

  • threshold: Inliers distance threshold [meters][mandatory]

  • layerMatches: Optional map of layer names to match. Refer to example YAML files.

  • bounding_box_intersection_check_epsilon: Optional (Default=0.20). The additional “margin” in all axes (x,y,z) that bounding box is enlarged for checking the feasibility of pairings to exist.

Public Members

std::vector<std::pair<std::string, std::string>> layer_matches

Pairs of Local->Global layers to match.

Note

Note: this field can be loaded from a configuration file via initialize().

Note

Map is: { {“globalLayer”, “localLayer”} [,…] }

float bounding_box_intersection_check_epsilon = 0.20f

The additional “margin” in all axes (x,y,z) that bounding box is enlarged for checking the feasibility of pairings to exist.

float threshold = 0.40f

Inliers distance threshold [meters]

Protected Functions

virtual 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
Returns:

true if the mather is actually invoked, false if disabled.