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
- Pairings
2. Algorithms
3. YAML pipeline definition files

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.