toolbox::metrics::LCPMetric< T > Class Template Reference

LCP (Largest Common Pointset) metric for evaluating point cloud registration. More...

#include <point_cloud_metrics.hpp>

Inheritance diagram for toolbox::metrics::LCPMetric< T >:

Public Types
using	element_type = T
using	point_type = toolbox::types::point_t< T >
using	cloud_type = toolbox::types::point_cloud_t< T >
using	transformation_type = Eigen::Matrix< T, 4, 4 >
Public Types inherited from toolbox::metrics::base_metric_t< LCPMetric< T >, T >
using	element_type = T
using	result_type = T

Public Member Functions
	LCPMetric (T inlier_threshold=T(1.0))
	Constructor.
constexpr T	distance_impl (const T *cloud_a, const T *cloud_b, std::size_t size) const
T	compute_lcp_score (const cloud_type &source, const cloud_type &target, const transformation_type &transform, std::vector< std::size_t > *inliers=nullptr) const
	Compute LCP score between two point clouds.
void	set_inlier_threshold (T threshold)
	Set inlier threshold.
T	get_inlier_threshold () const
	Get inlier threshold.
constexpr T	squared_distance_impl (const T *a, const T *b, std::size_t size) const
Public Member Functions inherited from toolbox::metrics::base_metric_t< LCPMetric< T >, T >
constexpr T	distance (const T *a, const T *b, std::size_t size) const
constexpr T	distance (const Container &a, const Container &b) const
constexpr T	squared_distance (const T *a, const T *b, std::size_t size) const
constexpr T	squared_distance (const Container &a, const Container &b) const

Detailed Description

template<typename T>
class toolbox::metrics::LCPMetric< T >

LCP (Largest Common Pointset) metric for evaluating point cloud registration.

Computes the average distance between transformed source points and their nearest neighbors in the target cloud, considering only points within a threshold. Lower scores indicate better alignment.

Template Parameters

T	Data type (float or double)

Member Typedef Documentation

cloud_type

template<typename T >

using toolbox::metrics::LCPMetric< T >::cloud_type = toolbox::types::point_cloud_t<T>

element_type

template<typename T >

using toolbox::metrics::LCPMetric< T >::element_type = T

point_type

template<typename T >

using toolbox::metrics::LCPMetric< T >::point_type = toolbox::types::point_t<T>

transformation_type

template<typename T >

using toolbox::metrics::LCPMetric< T >::transformation_type = Eigen::Matrix<T, 4, 4>

Constructor & Destructor Documentation

LCPMetric()

template<typename T >

toolbox::metrics::LCPMetric< T >::LCPMetric ( T  inlier_threshold = T(1.0) )

inlineexplicit

Constructor.

Parameters

inlier_threshold

Distance threshold for considering a point as an inlier

Member Function Documentation

compute_lcp_score()

template<typename T >

T toolbox::metrics::LCPMetric< T >::compute_lcp_score ( const cloud_type &  source, const cloud_type &  target, const transformation_type &  transform, std::vector< std::size_t > *  inliers = nullptr  ) const

inline

Compute LCP score between two point clouds.

Parameters

	source	Source point cloud
	target	Target point cloud
	transform	Transformation to apply to source points
[out]	inliers	Optional output vector of inlier indices

Returns

Average distance of inliers (lower is better)

distance_impl()

template<typename T >

constexpr T toolbox::metrics::LCPMetric< T >::distance_impl ( const T *  cloud_a, const T *  cloud_b, std::size_t  size  ) const

inlineconstexpr

get_inlier_threshold()

template<typename T >

T toolbox::metrics::LCPMetric< T >::get_inlier_threshold ( ) const

inline

Get inlier threshold.

Returns

Current threshold value

set_inlier_threshold()

template<typename T >

void toolbox::metrics::LCPMetric< T >::set_inlier_threshold ( T  threshold )

inline

Set inlier threshold.

Parameters

threshold

New threshold value

squared_distance_impl()

template<typename T >

constexpr T toolbox::metrics::LCPMetric< T >::squared_distance_impl ( const T *  a, const T *  b, std::size_t  size  ) const

inlineconstexpr

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The documentation for this class was generated from the following file:

• src/include/cpp-toolbox/metrics/point_cloud_metrics.hpp