Template Class CRangeScanOps

Nested Relationships

Nested Types

Inheritance Relationships

Derived Type

Class Documentation

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CRangeScanOps

Class for keeping together all the RangeScanner-related functions.

Subclassed by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< typename mrpt::graphs::CNetworkOfPoses2DInf >

Protected Functions

void getICPEdge(const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose = nullptr, mrpt::slam::CICP::TReturnInfo *icp_info = nullptr)

Align the 2D range scans provided and fill the potential edge that can transform the one into the other.

User can optionally ask that additional information be returned in a TReturnInfo struct

void getICPEdge(const mrpt::obs::CObservation3DRangeScan &from, const mrpt::obs::CObservation3DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose = nullptr, mrpt::slam::CICP::TReturnInfo *icp_info = nullptr)

Align the 3D range scans provided and find the potential edge that can transform the one into the other.

Fills the 2D part (rel_edge) of the 3D constraint between the scans, since we are interested in computing the 2D alignment. User can optionally ask that additional information be returned in a TReturnInfo struct

void decimatePointsMap(mrpt::maps::CPointsMap *m, size_t keep_point_every = 4, size_t low_lim = 0)

Reduce the size of the given CPointsMap by keeping one out of “keep_point_every” points.

Note

If low_lim is set then the PointsMap will contain at least low_lim measurements, regardless of keep_point_every value. Set low_lim to 0 if no lower limit is to be specified

bool convert3DTo2DRangeScan(mrpt::obs::CObservation3DRangeScan::Ptr &scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *scan2D_out)

Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.

Returns:

True if operation was successful, false otherwise

Protected Attributes

TParams params
struct TParams : public mrpt::config::CLoadableOptions

Public Functions

TParams() = default
~TParams() override = default
virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
virtual void dumpToTextStream(std::ostream &out) const override

Public Members

mrpt::slam::CICP icp
mrpt::obs::T3DPointsTo2DScanParams conversion_params

Struct holding the parameters of 3D to the corresponding 2D range scan conversion.

bool has_read_config = false