class mp2p_icp::QualityEvaluator

Overview

Matching quality evaluator (virtual base class)

#include <QualityEvaluator.h>

class QualityEvaluator:
    public mrpt::system::COutputLogger,
    public mrpt::rtti::CObject,
    public mp2p_icp::Parameterizable
{
public:
    // structs

    struct Result;

    // methods

    virtual void initialize(const mrpt::containers::yaml& params) = 0;

    virtual Result evaluate(
        const metric_map_t& pcGlobal,
        const metric_map_t& pcLocal,
        const mrpt::poses::CPose3D& localPose,
        const Pairings& pairingsFromICP
        ) const = 0;
};

// direct descendants

class QualityEvaluator_PairedRatio;
class QualityEvaluator_RangeImageSimilarity;
class QualityEvaluator_Voxels;

Methods

virtual void initialize(const mrpt::containers::yaml& params) = 0

Check each derived class to see required and optional parameters.

virtual Result evaluate(
    const metric_map_t& pcGlobal,
    const metric_map_t& pcLocal,
    const mrpt::poses::CPose3D& localPose,
    const Pairings& pairingsFromICP
    ) const = 0

Finds correspondences between the two point clouds.