class mp2p_icp::QualityEvaluator_PairedRatio

Overview

Matching quality evaluator: simple ratio [0,1] of paired entities. More…

#include <QualityEvaluator_PairedRatio.h>

class QualityEvaluator_PairedRatio: public mp2p_icp::QualityEvaluator
{
public:
    // methods

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

    virtual double evaluate(
        const metric_map_t& pcGlobal,
        const metric_map_t& pcLocal,
        const mrpt::poses::CPose3D& localPose,
        const Pairings& pairingsFromICP
        ) const;
};

Inherited Members

public:
    // methods

    virtual void initialize(const mrpt::containers::yaml& params) = 0;

    virtual double evaluate(
        const metric_map_t& pcGlobal,
        const metric_map_t& pcLocal,
        const mrpt::poses::CPose3D& localPose,
        const Pairings& pairingsFromICP
        ) const = 0;

Detailed Documentation

Matching quality evaluator: simple ratio [0,1] of paired entities.

Methods

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

See base class. Parameters :

thresholdDistance: 0.10

virtual double evaluate(
    const metric_map_t& pcGlobal,
    const metric_map_t& pcLocal,
    const mrpt::poses::CPose3D& localPose,
    const Pairings& pairingsFromICP
    ) const

Finds correspondences between the two point clouds.