class mp2p_icp::QualityEvaluator_Voxels¶
Overview¶
Matching quality evaluator: comparison via voxel occupancy. More…
#include <QualityEvaluator_Voxels.h> class QualityEvaluator_Voxels: public mp2p_icp::QualityEvaluator { public: // fields double resolution = 0.25; double maxOccupancyUpdateCertainty = 0.65; double maxFreenessUpdateCertainty = 0.55; double dist2quality_scale = 0.1; std::set<std::string> pointLayers = {mp2p_icp::metric_map_t::PT_LAYER_RAW}; // methods virtual void initialize(const mrpt::containers::yaml& params); virtual double evaluate( const metric_map_t& pcGlobal, const metric_map_t& pcLocal, const mrpt::poses::CPose3D& localPose, const Pairings& pairingsFromICP ) const; };
Inherited Members¶
public: // methods virtual void initialize(const mrpt::containers::yaml& params) = 0; virtual double evaluate( const metric_map_t& pcGlobal, const metric_map_t& pcLocal, const mrpt::poses::CPose3D& localPose, const Pairings& pairingsFromICP ) const = 0;
Detailed Documentation¶
Matching quality evaluator: comparison via voxel occupancy.
Fields¶
double resolution = 0.25
voxel size [meters]
double maxFreenessUpdateCertainty = 0.55
<[0.5,1.0]
std::set<std::string> pointLayers = {mp2p_icp::metric_map_t::PT_LAYER_RAW}
Evaluate points only in these layers
Methods¶
virtual void initialize(const mrpt::containers::yaml& params)
Check each derived class to see required and optional parameters.
virtual double 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.