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)
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()