class mp2p_icp::Matcher_Point2Line

Overview

Pointcloud matcher: point to plane-fit of nearby points

Finds point-to-line pairings between local point layers and points fitting a line in layers of the global input metric map.

By default, each local point layer is matched against the layer with the same name in the global map, unless specified otherwise in the base class member weight_pt2pt_layers. Refer to example configuration YAML files for example configurations.

#include <Matcher_Point2Line.h>

class Matcher_Point2Line: public mp2p_icp::Matcher_Points_Base
{
public:
    // methods

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

Inherited Members

public:
    // structs

    struct TransformedLocalPointCloud;

    // 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;

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

Methods

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

Parameters :

distanceThreshold : Inliers distance threshold [meters][mandatory]
knn : Number of neighbors to look for [mandatory]
minimumLinePoints : Minimum number of found points [mandatory]
lineEigenThreshold : maximum e0/e2 and e1/e2 ratio [mandatory]

Where [e0, e1, e2] are the smallest to largest eigenvalues of the Gaussian covariance fitting the knn closest global points for each local point.

Plus: the parameters of Matcher_Points_Base::initialize()