Class ICP_LibPointmatcher

• Defined in File ICP_LibPointmatcher.h

Nested Relationships

Nested Types

• Struct ICP_LibPointmatcher::ParametersLibpointmatcher

Inheritance Relationships

Base Type

• public mp2p_icp::ICP (Class ICP)

Class Documentation

class ICP_LibPointmatcher : public mp2p_icp::ICP

ICP wrapper on libpointmatcher

Public Functions

void initialize_derived(const mrpt::containers::yaml &params) override

virtual void align(const metric_map_t &pcLocal, const metric_map_t &pcGlobal, const mrpt::math::TPose3D &initialGuessLocalWrtGlobal, const Parameters &p, Results &result, const std::optional<mrpt::poses::CPose3DPDFGaussianInf> &prior = std::nullopt, const mrpt::optional_ref<LogRecord> &outputDebugInfo = std::nullopt) override

Register (align) two point clouds (possibly after having been preprocessed to extract features, etc.) and returns the relative pose of pcLocal with respect to pcGlobal.

Public Members

ParametersLibpointmatcher parametersLibpointmatcher

Public Static Functions

static bool methodAvailable()

Returns true if mp2p_icp was built with libpointmatcher support.

struct ParametersLibpointmatcher

Public Members

double RandomSamplingDataPointsFilter_prob = 1.0

unsigned int SurfaceNormalDataPointsFilter_knn = 10

unsigned int KDTreeMatcher_knn = 1

std::string outlierFilter = "VarTrimmedDistOutlierFilter"

std::map<std::string, double> outlierParams = {{"minRatio", 0.05}, {"maxRatio", 0.95}, {"lambda", 2.35},}

std::string errorMinimizer = "PointToPlaneErrorMinimizer"