#include <Matcher.h>

Inheritance diagram for mp2p_icp::Matcher:

[legend]

Public Member Functions
virtual void	initialize (const mrpt::containers::yaml &params)

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

Public Attributes
uint32_t	runFromIteration = 0

uint32_t	runUpToIteration = 0
	0: no limit More...

Protected Member 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 =0

Detailed Description

Pointcloud matching generic base class. Each "matcher" implementation takes a global ("reference") metric_map_t and another local ("mobile") metric_map_t which is assumed to be placed in a hypothetical SE(3) pose in the global frame, and generates pairings between the geometric entities (points, planes, etc.) of both groups.

Definition at line 70 of file Matcher.h.

Member Function Documentation

◆ impl_match()

virtual bool mp2p_icp::Matcher::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

protectedpure virtual

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

Implemented in mp2p_icp::Matcher_Points_Base.

◆ initialize()

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

virtual

Check each derived class to see required and optional parameters.

Reimplemented in mp2p_icp::Matcher_Points_Base, mp2p_icp::Matcher_Point2Plane, mp2p_icp::Matcher_Points_DistanceThreshold, mp2p_icp::Matcher_Point2Line, and mp2p_icp::Matcher_Points_InlierRatio.

Definition at line 20 of file mp2p_icp/src/Matcher.cpp.

◆ match()

bool Matcher::match	(	const metric_map_t &	pcGlobal,
		const metric_map_t &	pcLocal,
		const mrpt::poses::CPose3D &	localPose,
		const MatchContext &	mc,
		MatchState &	ms,
		Pairings &	out
	)		const

virtual

Finds correspondences between the two point clouds. "out" is not cleared, but new pairings added to it.

Returns: false if the matcher is disabled and was not actually run.

Definition at line 26 of file mp2p_icp/src/Matcher.cpp.

Member Data Documentation

◆ runFromIteration

uint32_t mp2p_icp::Matcher::runFromIteration = 0

Definition at line 87 of file Matcher.h.

◆ runUpToIteration

uint32_t mp2p_icp::Matcher::runUpToIteration = 0

0: no limit

Definition at line 88 of file Matcher.h.

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

Public Member Functions

Public Attributes

Protected Member Functions