Class Matcher_Points_InlierRatio

• Defined in File Matcher_Points_InlierRatio.h

Inheritance Relationships

Base Type

• public mp2p_icp::Matcher_Points_Base (Class Matcher_Points_Base)

Class Documentation

class Matcher_Points_InlierRatio : public mp2p_icp::Matcher_Points_Base

Pointcloud matcher: fixed ratio of inliers/outliers by distance

Finds point-to-point pairings between the local and global input metric maps.

By default, each local point layer is matched against the layer with the same name in the global map, unless specified otherwise in the base class member weight_pt2pt_layers. Refer to example configuration YAML files for example configurations.

Public Functions

Matcher_Points_InlierRatio()

inline Matcher_Points_InlierRatio(const double ratio)

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

Parameters: inliersRatio: Inliers distance ratio threshold [0-1]