class mp2p_icp::Matcher_Points_DistanceThreshold¶
Overview¶
Pointcloud matcher: fixed distance thresholds. More…
#include <Matcher_Points_DistanceThreshold.h> class Matcher_Points_DistanceThreshold: public mp2p_icp::Matcher_Points_Base { public: // construction Matcher_Points_DistanceThreshold(); Matcher_Points_DistanceThreshold(double distThreshold); // 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: fixed distance thresholds.
Finds point-to-point pairings between the local
and global
input metric maps.
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)
threshold
: Inliers distance threshold [meters][mandatory]pairingsPerPoint
: Number of pairings in “global” for each “local” points. Default=1. If more than one, they will be picked in ascending order of distance, up tothreshold
. [optional].
Plus: the parameters of Matcher_Points_Base::initialize()