class mp2p_icp::QualityEvaluator_PairedRatio

Overview

Matching quality evaluator: simple ratio [0,1] of paired entities, using either an independent Matcher_Points_DistanceThreshold object, or (faster) directly from the ratio of found pairings in the last ICP step if reuse_icp_pairings is true, the default.

#include <QualityEvaluator_PairedRatio.h>

class QualityEvaluator_PairedRatio: public mp2p_icp::QualityEvaluator
{
public:
    // methods

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

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

    virtual void attachToParameterSource(ParameterSource& source);
};

Inherited Members

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;

Methods

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

See base class. Parameters :

reuse_icp_pairings: true # Default=true (no more params then required)
#thresholdDistance: 0.10
#thresholdAngularDeg: 0

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

Finds correspondences between the two point clouds.

virtual void attachToParameterSource(ParameterSource& source)

Each parameterizable object can be attached to one source at a given time