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.