class mp2p_icp::Matcher_Points_Base

Overview

Pointcloud matcher auxiliary class for iterating over point layers.

The common to all matchers working on points in the local input metric map. See derived classes for possible generated pairings.

#include <Matcher_Points_Base.h>

class Matcher_Points_Base: public mp2p_icp::Matcher
{
public:
    // structs

    struct TransformedLocalPointCloud;

    // methods

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

// direct descendants

class Matcher_Adaptive;
class Matcher_Point2Line;
class Matcher_Point2Plane;
class Matcher_Points_DistanceThreshold;
class Matcher_Points_InlierRatio;

Inherited Members

public:
    // fields

    uint32_t runUpToIteration = 0;

    // methods

    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;

Methods

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

Common parameters to all derived classes:

maxLocalPointsPerLayer : Maximum number of local points to consider for the “local” point cloud, per point layer. “0” means “all” (no decimation) [Default=0].
localPointsSampleSeed : Only if maxLocalPointsPerLayer!=0, and the number of points in the local map is larger than that number, a seed for the RNG used to pick random point indices. 0 (default) means to use a time-based seed.
pointLayerMatches : Optional map of layer names to relative weights. Refer to example YAML files.
allowMatchAlreadyMatchedPoints : Optional (Default=false). Whether to find matches for local points which were already paired by other matcher in an earlier stage in the matchers pipeline.
bounding_box_intersection_check_epsilon : Optional (Default=0.20). The additional “margin” in all axes (x,y,z) that bounding box is enlarged for checking the feasibility of pairings to exist.