struct mp2p_icp::Pairings

Overview

Common pairing input data for OLAE, Horn’s, and other solvers. More…

#include <Pairings.h>

struct Pairings
{
    // fields

    mrpt::tfest::TMatchingPairList paired_pt2pt;
    MatchedPointLineList paired_pt2ln;
    MatchedPointPlaneList paired_pt2pl;
    MatchedLineList paired_ln2ln;
    MatchedPlaneList paired_pl2pl;
    std::vector<std::pair<std::size_t, double>> point_weights;

    // methods

    virtual bool empty() const;
    virtual size_t size() const;
    virtual std::string contents_summary() const;
    virtual void push_back(const Pairings& o);
    virtual void push_back(Pairings&& o);
    virtual void serializeTo(mrpt::serialization::CArchive& out) const;
    virtual void serializeFrom(mrpt::serialization::CArchive& in);
    virtual auto get_visualization(const mrpt::poses::CPose3D& localWrtGlobal, const pairings_render_params_t& p = pairings_render_params_t()) const;

    virtual void get_visualization_pt2pt(
        mrpt::opengl::CSetOfObjects& o,
        const mrpt::poses::CPose3D& localWrtGlobal,
        const render_params_pairings_pt2pt_t& p
        ) const;

    virtual void get_visualization_pt2pl(
        mrpt::opengl::CSetOfObjects& o,
        const mrpt::poses::CPose3D& localWrtGlobal,
        const render_params_pairings_pt2pl_t& p
        ) const;

    virtual void get_visualization_pt2ln(
        mrpt::opengl::CSetOfObjects& o,
        const mrpt::poses::CPose3D& localWrtGlobal,
        const render_params_pairings_pt2ln_t& p
        ) const;
};

Detailed Documentation

Common pairing input data for OLAE, Horn’s, and other solvers. Planes and lines must have unit director and normal vectors, respectively.

Pairings are between a “global” (or “this”) and a “local” (or “other”) pointcloud, while we are searching for the relative pose of “local” wrt “global”, such that “relative_pose oplus localPoint = globalPoint”.

Fields

mrpt::tfest::TMatchingPairList paired_pt2pt

We reuse MRPT struct to allow using their matching functions. on MRPT naming convention: “this”=global; “other”=local.

std::vector<std::pair<std::size_t, double>> point_weights

Individual weights for paired_pt2pt: each entry specifies how many points have the given (mapped second value) weight, in the same order as stored in paired_pt2pt. If empty, all points will have equal weights.

Methods

virtual size_t size() const

Overall number of element-to-element pairings (points, lines, planes)

virtual std::string contents_summary() const

Returns a string summarizing all the paired elements

virtual void push_back(const Pairings& o)

Copy and append pairings from another container.

virtual void push_back(Pairings&& o)

Move pairings from another container.

virtual auto get_visualization(
    const mrpt::poses::CPose3D& localWrtGlobal,
    const pairings_render_params_t& p = pairings_render_params_t()
    ) const

Gets a renderizable view of all geometric entities.

See render_params_t for options to show/hide the different geometric entities and point layers.

If deriving user classes inheriting from metric_map_t, remember to reimplement this method and call this base class method to render common elements.

virtual void get_visualization_pt2pt(
    mrpt::opengl::CSetOfObjects& o,
    const mrpt::poses::CPose3D& localWrtGlobal,
    const render_params_pairings_pt2pt_t& p
    ) const

Used inside get_visualization(), renders pt-to-pt pairings only.

virtual void get_visualization_pt2pl(
    mrpt::opengl::CSetOfObjects& o,
    const mrpt::poses::CPose3D& localWrtGlobal,
    const render_params_pairings_pt2pl_t& p
    ) const

Used inside get_visualization(), renders pt-to-pl pairings only.

virtual void get_visualization_pt2ln(
    mrpt::opengl::CSetOfObjects& o,
    const mrpt::poses::CPose3D& localWrtGlobal,
    const render_params_pairings_pt2ln_t& p
    ) const

Used inside get_visualization(), renders pt-to-ln pairings only.