class mp2p_icp::ICP_LibPointmatcher

Overview

ICP wrapper on libpointmatcher More…

#include <ICP_LibPointmatcher.h>

class ICP_LibPointmatcher: public mp2p_icp::ICP
{
public:
    // typedefs

    typedef std::vector<mp2p_icp::Solver::Ptr> solver_list_t;
    typedef std::vector<QualityEvaluatorEntry> quality_eval_list_t;

    // structs

    struct ParametersLibpointmatcher;

    // fields

    ParametersLibpointmatcher parametersLibpointmatcher;

    // methods

    const solver_list_t& solvers() const;
    solver_list_t& solvers();

    static void initialize_solvers(
        const mrpt::containers::yaml& params,
        ICP::solver_list_t& lst
        );

    const matcher_list_t& matchers() const;
    matcher_list_t& matchers();

    static void initialize_matchers(
        const mrpt::containers::yaml& params,
        matcher_list_t& lst
        );

    const quality_eval_list_t& quality_evaluators() const;
    quality_eval_list_t& quality_evaluators();

    static void initialize_quality_evaluators(
        const mrpt::containers::yaml& params,
        quality_eval_list_t& lst
        );

    static double evaluate_quality(
        const quality_eval_list_t& evaluators,
        const metric_map_t& pcGlobal,
        const metric_map_t& pcLocal,
        const mrpt::poses::CPose3D& localPose,
        const Pairings& finalPairings
        );

    void initialize_derived(const mrpt::containers::yaml& params);

    virtual void align(
        const metric_map_t& pcLocal,
        const metric_map_t& pcGlobal,
        const mrpt::math::TPose3D& initialGuessLocalWrtGlobal,
        const Parameters& p,
        Results& result,
        const mrpt::optional_ref<LogRecord>& outputDebugInfo = std::nullopt
        );

    static bool methodAvailable();
};

Inherited Members

public:
    // structs

    struct ICP_State;
    struct QualityEvaluatorEntry;

    // methods

    void initialize_solvers(const mrpt::containers::yaml& params);
    static bool run_solvers(const solver_list_t& solvers, const Pairings& pairings, OptimalTF_Result& out, const SolverContext& sc = {});
    void initialize_matchers(const mrpt::containers::yaml& params);
    void initialize_quality_evaluators(const mrpt::containers::yaml& params);

    virtual void align(
        const metric_map_t& pcLocal,
        const metric_map_t& pcGlobal,
        const mrpt::math::TPose3D& initialGuessLocalWrtGlobal,
        const Parameters& p,
        Results& result,
        const mrpt::optional_ref<LogRecord>& outputDebugInfo = std::nullopt
        );

    virtual void initialize_derived(] const mrpt::containers::yaml& p);

Detailed Documentation

ICP wrapper on libpointmatcher

Methods

virtual void align(
    const metric_map_t& pcLocal,
    const metric_map_t& pcGlobal,
    const mrpt::math::TPose3D& initialGuessLocalWrtGlobal,
    const Parameters& p,
    Results& result,
    const mrpt::optional_ref<LogRecord>& outputDebugInfo = std::nullopt
    )

Register (align) two point clouds (possibly after having been preprocessed to extract features, etc.) and returns the relative pose of pcLocal with respect to pcGlobal.

static bool methodAvailable()

Returns true if mp2p_icp was built with libpointmatcher support.