struct mp2p_icp::WeightParameters::PairWeights

Overview

Relative weight of points, lines, and planes. More…

#include <WeightParameters.h>

struct PairWeights
{
    // fields

    double pt2pt = 1.0;
    double pt2ln = 1.0;
    double pt2pl = 1.0;
    double ln2ln = 1.0;
    double pl2pl = 1.0;

    // methods

    void load_from(const mrpt::containers::yaml& p);
    void save_to(mrpt::containers::yaml& p) const;
    void serializeTo(mrpt::serialization::CArchive& out) const;
    void serializeFrom(mrpt::serialization::CArchive& in);
};

Detailed Documentation

Relative weight of points, lines, and planes. They will be automatically normalized to sum the unity, so feel free of setting weights at any convenient scale.

Fields

double pt2pt = 1.0

Weight of point-to-point pairs. Note that finer control of weights can be achieved with Pairings::point_weights.

double pt2ln = 1.0

Weight of point-to-line pairs.

double pt2pl = 1.0

Weight of point-to-plane pairs.

double ln2ln = 1.0

Weight of line-to-line pairs.

double pl2pl = 1.0

Weight of plane-to-plane pairs.