struct mp2p_icp::NearestPlaneCapable::PlaneCandidate

Overview

One of the candidate planes examined while answering nn_search_pt2pl().

#include <NearestPlaneCapable.h>

struct PlaneCandidate
{
    // fields

    point_plane_pair_t pairing {};
    float distance = 0;
    float centroidDistance = 0;
};

Fields

point_plane_pair_t pairing {}

The candidate plane, with the centroid of its supporting elements:

float distance = 0

Absolute value of the plane-point distance:

float centroidDistance = 0

Distance from the query point to the plane patch centroid. Matchers that blend several candidates need this to fade the contribution of distant ones smoothly to zero: the candidate set itself is discrete, so without such a fade a candidate entering or leaving it makes the result jump.