Class MapCloudGenerator

Class Documentation

class MapCloudGenerator

Class that generates a map point cloud from registered keyframes.

Public Types

using PointT = pcl::PointXYZI

Public Functions

MapCloudGenerator()

Contructor of class MapCloudGenerator.

~MapCloudGenerator()
pcl::PointCloud<PointT>::Ptr generate(const std::vector<KeyFrameSnapshot::Ptr> &keyframes, double resolution) const

Generates a map point cloud.

Parameters:

  • keyframes – snapshots of keyframes

  • resolution – resolution of generated map

Returns:

generated map point cloud

pcl::PointCloud<PointT>::Ptr generate(const Eigen::Matrix4f &pose, const pcl::PointCloud<PointT>::Ptr &cloud) const