Library: mp2p-icp¶
A repertory of multi-primitive-to-primitive (MP2P) matchers, optimizers, and ICP-related algorithms and data structures written in C++.
1. Data structures¶
Metric maps: point clouds, and more¶
The basic data class is metric_map_t
. It comprises:
- A set of map layers, each one an instance of a generic mrpt::maps::CMetricMap, typically point clouds (mrpt::maps::CSimplePointsMap) but may hold also 2D grid maps (mrpt::maps::COccupancyGridMap2D) or 3D octomaps (mrpt::maps::COctoMap). Layers are indexed by a name (
std::string
).- Other geometric entities: lines, planes.

2. Algorithms¶
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3. YAML pipeline definition files¶
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