class mp2p_icp::Matcher_Points_InlierRatio¶
Overview¶
Pointcloud matcher: fixed ratio of inliers/outliers by distance
Finds point-to-point pairings between the local
and global
input metric maps. More…
#include <Matcher_Points_InlierRatio.h> class Matcher_Points_InlierRatio: public mp2p_icp::Matcher_Points_Base { public: // fields uint64_t maxLocalPointsPerLayer_ = 0; uint64_t localPointsSampleSeed_ = 0; uint32_t runFromIteration = 0; // construction Matcher_Points_InlierRatio(); Matcher_Points_InlierRatio(const double ratio); // methods virtual void initialize(const mrpt::containers::yaml& params); static TransformedLocalPointCloud transform_local_to_global( const mrpt::maps::CPointsMap& pcLocal, const mrpt::poses::CPose3D& localPose, const std::size_t maxLocalPoints = 0, const uint64_t localPointsSampleSeed = 0 ); };
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 ratio of inliers/outliers by distance
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)
Parameters : inliersRatio
: Inliers distance ratio threshold [0-1]