#include <Matcher_Points_InlierRatio.h>
Public Member Functions | |
void | initialize (const mrpt::containers::yaml ¶ms) override |
Matcher_Points_InlierRatio () | |
Matcher_Points_InlierRatio (const double ratio) | |
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Matcher_Points_Base ()=default | |
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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 |
Private Member Functions | |
void | implMatchOneLayer (const mrpt::maps::CMetricMap &pcGlobal, const mrpt::maps::CPointsMap &pcLocal, const mrpt::poses::CPose3D &localPose, MatchState &ms, const layer_name_t &globalName, const layer_name_t &localName, Pairings &out) const override |
Private Attributes | |
double | inliersRatio = 0.80 |
Additional Inherited Members | |
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static TransformedLocalPointCloud | transform_local_to_global (const mrpt::maps::CPointsMap &pcLocal, const mrpt::poses::CPose3D &localPose, const std::size_t maxLocalPoints=0, const uint64_t localPointsSampleSeed=0) |
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bool | allowMatchAlreadyMatchedGlobalPoints_ = false |
bool | allowMatchAlreadyMatchedPoints_ = false |
std::optional< std::size_t > | kdtree_leaf_max_points_ |
uint64_t | localPointsSampleSeed_ = 0 |
uint64_t | maxLocalPointsPerLayer_ = 0 |
std::map< std::string, std::map< std::string, double > > | weight_pt2pt_layers |
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uint32_t | runFromIteration = 0 |
uint32_t | runUpToIteration = 0 |
0: no limit More... | |
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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 final |
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 especified otherwise in the base class member weight_pt2pt_layers
. Refer to example configuration YAML files for example configurations.
Definition at line 30 of file Matcher_Points_InlierRatio.h.
Matcher_Points_InlierRatio::Matcher_Points_InlierRatio | ( | ) |
Definition at line 22 of file Matcher_Points_InlierRatio.cpp.
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inline |
Definition at line 36 of file Matcher_Points_InlierRatio.h.
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overrideprivatevirtual |
Implements mp2p_icp::Matcher_Points_Base.
Definition at line 35 of file Matcher_Points_InlierRatio.cpp.
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overridevirtual |
Parameters: inliersRatio
: Inliers distance ratio threshold [0-1]
Reimplemented from mp2p_icp::Matcher_Points_Base.
Definition at line 27 of file Matcher_Points_InlierRatio.cpp.
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private |
Inliers distance ratio threshold [0-1]
Definition at line 49 of file Matcher_Points_InlierRatio.h.