Pipeline for merging overlapping occupancy grids. More...

Public Member Functions
nav_msgs::OccupancyGrid::Ptr	composeGrids ()

bool	estimateTransforms (FeatureType feature=FeatureType::AKAZE, double confidence=1.0)

template<typename InputIt >
void	feed (InputIt grids_begin, InputIt grids_end)

std::vector< geometry_msgs::Transform >	getTransforms () const

template<typename InputIt >
bool	setTransforms (InputIt transforms_begin, InputIt transforms_end)

Private Attributes
std::vector< nav_msgs::OccupancyGrid::ConstPtr >	grids_

std::vector< cv::Mat >	images_

std::vector< cv::Mat >	transforms_

Detailed Description

Pipeline for merging overlapping occupancy grids.

Pipeline works on internally stored grids.

Definition at line 55 of file merging_pipeline.h.

Member Function Documentation

nav_msgs::OccupancyGrid::Ptr combine_grids::MergingPipeline::composeGrids ( )

Definition at line 125 of file merging_pipeline.cpp.

bool combine_grids::MergingPipeline::estimateTransforms	(	FeatureType	feature = `FeatureType::AKAZE`,
		double	confidence = `1.0`
	)

Definition at line 48 of file merging_pipeline.cpp.

template<typename InputIt >

void combine_grids::MergingPipeline::feed	(	InputIt	grids_begin,
		InputIt	grids_end
	)

Definition at line 75 of file merging_pipeline.h.

std::vector< geometry_msgs::Transform > combine_grids::MergingPipeline::getTransforms ( ) const

Definition at line 164 of file merging_pipeline.cpp.

template<typename InputIt >

bool combine_grids::MergingPipeline::setTransforms	(	InputIt	transforms_begin,
		InputIt	transforms_end
	)

Definition at line 101 of file merging_pipeline.h.

std::vector<nav_msgs::OccupancyGrid::ConstPtr> combine_grids::MergingPipeline::grids_

private

Definition at line 69 of file merging_pipeline.h.

std::vector<cv::Mat> combine_grids::MergingPipeline::images_

private

Definition at line 70 of file merging_pipeline.h.

std::vector<cv::Mat> combine_grids::MergingPipeline::transforms_

private

Definition at line 71 of file merging_pipeline.h.

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