struct mp2p_icp::MatchState

Overview

#include <Matcher.h>

struct MatchState
{
    // fields

    pointcloud_bitfield_t localPairedBitField;
    pointcloud_bitfield_t globalPairedBitField;

    // construction

    MatchState(
        const metric_map_t& pcGlobal,
        const metric_map_t& pcLocal
        );

    // methods

    void initialize();
};

Fields

pointcloud_bitfield_t localPairedBitField

The pairings already assigned by former matches in the pipeline indexed by the pcLocal entities (true=already have a pairing).

pointcloud_bitfield_t globalPairedBitField

Like localPairedBitField for the global map.

Methods

void initialize()

Initialize all bit fields to their correct length and default value (false)