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19 #include <mrpt/rtti/CObject.h>
38 const mrpt::math::TPose3D& initialGuessLocalWrtGlobal,
40 const mrpt::optional_ref<LogRecord>& outputDebugInfo =
41 std::nullopt)
override;
64 #if defined(MP2P_HAS_LIBPOINTMATCHER)
Generic ICP algorithm container.
unsigned int SurfaceNormalDataPointsFilter_knn
std::string pm_icp_yaml_settings_
std::string errorMinimizer
double RandomSamplingDataPointsFilter_prob
std::map< std::string, double > outlierParams
static bool methodAvailable()
ParametersLibpointmatcher parametersLibpointmatcher
unsigned int KDTreeMatcher_knn
void initialize_derived(const mrpt::containers::yaml ¶ms) override
std::string outlierFilter
void align(const metric_map_t &pcLocal, const metric_map_t &pcGlobal, const mrpt::math::TPose3D &initialGuessLocalWrtGlobal, const Parameters &p, Results &result, const mrpt::optional_ref< LogRecord > &outputDebugInfo=std::nullopt) override
Generic representation of pointcloud(s) and/or extracted features.
Generic container of pointcloud(s), extracted features and other maps.