Struct TMatchingParams
Defined in File metric_map_types.h
Struct Documentation
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struct TMatchingParams
Parameters for the determination of matchings between point clouds, etc.
Public Functions
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TMatchingParams() = default
Ctor: default values
Public Members
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float maxDistForCorrespondence = {0.50f}
Maximum linear distance between two points to be paired (meters)
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float maxAngularDistForCorrespondence = {.0f}
Allowed “angular error” (in radians): this permits larger pairing threshold distances to more distant points.
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bool onlyKeepTheClosest = {true}
If set to true (default), only the closest correspondence will be returned. If false all are returned.
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bool onlyUniqueRobust = {false}
Additional consistency filter: “onlyKeepTheClosest” allows one correspondence for each “local map” point, but many of them may have as corresponding pair the same “global point”, which this flag avoids.
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size_t decimation_other_map_points = {1}
(Default=1) Only consider 1 out of this number of points from the “other” map.
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size_t offset_other_map_points = {0}
Index of the first point in the “other” map to start checking for correspondences (Default=0)
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TMatchingParams() = default