#include <FilterMerge.h>

Inheritance diagram for mp2p_icp_filters::FilterMerge:

[legend]

Classes
struct	Parameters

Public Member Functions
void	filter (mp2p_icp::metric_map_t &inOut) const override

	FilterMerge ()

void	initialize (const mrpt::containers::yaml &c) override

Public Member Functions inherited from mp2p_icp_filters::FilterBase
	FilterBase ()

virtual	~FilterBase ()

Public Member Functions inherited from mp2p_icp::Parameterizable
ParameterSource *	attachedSource ()

const ParameterSource *	attachedSource () const

virtual void	attachToParameterSource (ParameterSource &source)

void	checkAllParametersAreRealized () const

auto &	declaredParameters ()

const auto &	declaredParameters () const

void	unrealizeParameters ()
	Mark all non-constant parameters as non-evaluated again. More...

Public Attributes
Parameters	params_

Additional Inherited Members
Protected Member Functions inherited from mp2p_icp::Parameterizable
void	parseAndDeclareParameter (const std::string &value, double &target)

void	parseAndDeclareParameter (const std::string &value, float &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

void	parseAndDeclareParameter (const std::string &value, uint32_t &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Detailed Description

Takes an input point cloud or mrpt::maps::CVoxelMap layer and inserts it into another one of arbitrary metric map type.

Insertion is done by converting the input layer into an mrpt::obs::CObservationPointCloud, then invoking the target layer's mrpt::maps::CMetricMap::insertObservation()

If the input was a mrpt::maps::CVoxelMap, it is first converted into a point cloud by generating points for each occupied voxel using mrpt::maps::CVoxelMap::getOccupiedVoxels().

Coordinate frames are:

If input_layer_in_local_coordinates is false (default): both, input and output layers are in the same frame of reference. Even though, the variable robot_pose is important in cases where ray-tracing is necesary, e.g. voxel or grid maps.
If input_layer_in_local_coordinates is true: input is in the vehicle frame, output is in another global frame, in which the vehicle is at pose robot_pose.

Definition at line 44 of file FilterMerge.h.

Constructor & Destructor Documentation

◆ FilterMerge()

FilterMerge::FilterMerge ( )

Definition at line 46 of file FilterMerge.cpp.

Member Function Documentation

◆ filter()

void FilterMerge::filter ( mp2p_icp::metric_map_t & inOut ) const

overridevirtual

See docs above for FilterBase.

Implements mp2p_icp_filters::FilterBase.

Definition at line 61 of file FilterMerge.cpp.

◆ initialize()

void FilterMerge::initialize ( const mrpt::containers::yaml & cfg_block )

overridevirtual

Loads, from a YAML configuration block, all the common, and implementation-specific parameters.

Implements mp2p_icp_filters::FilterBase.

Definition at line 51 of file FilterMerge.cpp.

Member Data Documentation

◆ params_

Parameters mp2p_icp_filters::FilterMerge::params_

Algorithm parameters

Definition at line 78 of file FilterMerge.h.

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

Classes

Public Member Functions

Public Attributes

Additional Inherited Members