class mp2p_icp::Matcher_Point2Plane¶
Overview¶
Pointcloud matcher: point to plane-fit of nearby points
Finds point-to-plane pairings between local
point layers and points fitting a plane in layers of the global
input metric map. More…
#include <Matcher_Point2Plane.h> class Matcher_Point2Plane: 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);
Detailed Documentation¶
Pointcloud matcher: point to plane-fit of nearby points
Finds point-to-plane pairings between local
point layers and points fitting a plane 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 especified otherwise in the base class member weight_pt2pt_layers
. Refer to example configuration YAML files for example configurations.
Methods¶
virtual void initialize(const mrpt::containers::yaml& params)
distanceThreshold
: Max. inliers pt-plane distance [meters][mandatory]knn
: Number of neighbors to look for [mandatory]minimumPlanePoints
: Minimum number of found points [mandatory]searchRadius
: Max radius search for neighbors [meters][mandatory]planeEigenThreshold
: maximum e0/e2 ratio [mandatory]localPointMustFitPlaneToo
: iftrue
, each local point must also fulfill the plane-like condition to generate a pt-plane pairing [optional] (Default: false)localToGlobalPlaneMinAbsCosine
: IflocalPointMustFitPlaneToo
istrue
, the minimum absolute value of the cosine of the plane-to-plane angles to generate a valid pairing optional
Where e0 and e2 are the smallest and largest eigenvalues of the Gaussian covariance fitting the knn closest global points for each local point.
Plus: the parameters of Matcher_Points_Base::initialize()