class mp2p_icp::QualityEvaluator_Voxels

Overview

Matching quality evaluator: comparison via voxel occupancy.

#include <QualityEvaluator_Voxels.h>

class QualityEvaluator_Voxels: public mp2p_icp::QualityEvaluator
{
public:
    // fields

    std::string voxel_layer_name;
    double dist2quality_scale = 2.0;

    // 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;
};

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;

Fields

std::string voxel_layer_name

The name of the input maps layer that is of type CVoxelMap

Methods

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

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

Finds correspondences between the two point clouds.