#include <Generator.h>

Inheritance diagram for mp2p_icp_filters::Generator:

[legend]

Classes
struct	Parameters

Public Member Functions
	Generator ()

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...

Protected Member Functions
virtual bool	filterPointCloud (const mrpt::maps::CPointsMap &pc, const mrpt::poses::CPose3D &sensorPose, mp2p_icp::metric_map_t &out, const std::optional< mrpt::poses::CPose3D > &robotPose) const

virtual bool	filterRotatingScan (const mrpt::obs::CObservationRotatingScan &pc, mp2p_icp::metric_map_t &out, const std::optional< mrpt::poses::CPose3D > &robotPose) const

virtual bool	filterScan2D (const mrpt::obs::CObservation2DRangeScan &pc, mp2p_icp::metric_map_t &out, const std::optional< mrpt::poses::CPose3D > &robotPose) const

virtual bool	filterScan3D (const mrpt::obs::CObservation3DRangeScan &pc, mp2p_icp::metric_map_t &out, const std::optional< mrpt::poses::CPose3D > &robotPose) const

virtual bool	filterVelodyneScan (const mrpt::obs::CObservationVelodyneScan &pc, mp2p_icp::metric_map_t &out, const std::optional< mrpt::poses::CPose3D > &robotPose) const

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...

Protected Attributes
bool	initialized_ = false

std::regex	process_class_names_regex_

std::regex	process_sensor_labels_regex_

Private Member Functions
bool	implProcessCustomMap (const mrpt::obs::CObservation &o, mp2p_icp::metric_map_t &out, const std::optional< mrpt::poses::CPose3D > &robotPose=std::nullopt) const

bool	implProcessDefault (const mrpt::obs::CObservation &o, mp2p_icp::metric_map_t &out, const std::optional< mrpt::poses::CPose3D > &robotPose=std::nullopt) const

void	internalLoadUserPlugin (const std::string &moduleToLoad) const

Generator API
Parameters	params_

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

virtual bool	process (const mrpt::obs::CObservation &input_raw, mp2p_icp::metric_map_t &inOut, const std::optional< mrpt::poses::CPose3D > &robotPose=std::nullopt) const

Detailed Description

Generic base class providing process(), converting a generic mrpt::obs::CObservation into a metric_map_t with just a point cloud layer (named raw).

This metric_map_t can optionally then be passed through one or more FilterBase implementations to detect features, decimate it, etc.

Specializations of Generator may exist and could be implemented to exploit the structured information in the original CObservation data to be more efficient in detecting features (e.g. corners, etc.).

Internally, different signatures exists for:

2D LiDAR range scans (mrpt::obs::CObservation2DRangeScan)
3D Velodyne scans (mrpt::obs::CObservationVelodyneScan)
3D RGBD camera images (mrpt::obs::CObservation3DRangeScan)
Generic 2D/3D point clouds (mrpt::obs::CObservationPointCloud)
Generic multi-beam rotating (or flash) Lidars (mrpt::obs::CObservationRotatingScan)

Derived classes may implement all or only one of those methods. An exception NotImplementedError will be thrown if an non-implemented method is called.

Note: process() is not required to be thread (multientry) safe.

A set of generators can be loaded from a YAML file and applied together using mp2p_icp_filters::apply_generators().

Definition at line 71 of file Generator.h.

Constructor & Destructor Documentation

◆ Generator()

Generator::Generator ( )

Definition at line 42 of file Generator.cpp.

Member Function Documentation

◆ filterPointCloud()

bool Generator::filterPointCloud	(	const mrpt::maps::CPointsMap &	pc,
		const mrpt::poses::CPose3D &	sensorPose,
		mp2p_icp::metric_map_t &	out,
		const std::optional< mrpt::poses::CPose3D > &	robotPose
	)		const

protectedvirtual

Process a 2D/3D point-cloud.

Returns: false if not implemented

Definition at line 206 of file Generator.cpp.

◆ filterRotatingScan()

bool Generator::filterRotatingScan	(	const mrpt::obs::CObservationRotatingScan &	pc,
		mp2p_icp::metric_map_t &	out,
		const std::optional< mrpt::poses::CPose3D > &	robotPose
	)		const

protectedvirtual

Process a 3D lidar scan.

Returns: false if not implemented

Reimplemented in mp2p_icp_filters::GeneratorEdgesFromCurvature, and mp2p_icp_filters::GeneratorEdgesFromRangeImage.

Definition at line 247 of file Generator.cpp.

◆ filterScan2D()

bool Generator::filterScan2D	(	const mrpt::obs::CObservation2DRangeScan &	pc,
		mp2p_icp::metric_map_t &	out,
		const std::optional< mrpt::poses::CPose3D > &	robotPose
	)		const

protectedvirtual

Process a 2D lidar scan.

Returns: false if not implemented

Definition at line 170 of file Generator.cpp.

◆ filterScan3D()

bool Generator::filterScan3D	(	const mrpt::obs::CObservation3DRangeScan &	pc,
		mp2p_icp::metric_map_t &	out,
		const std::optional< mrpt::poses::CPose3D > &	robotPose
	)		const

protectedvirtual

Process a depth camera observation.

Returns: false if not implemented

Reimplemented in mp2p_icp_filters::GeneratorEdgesFromRangeImage.

Definition at line 198 of file Generator.cpp.

◆ filterVelodyneScan()

bool Generator::filterVelodyneScan	(	const mrpt::obs::CObservationVelodyneScan &	pc,
		mp2p_icp::metric_map_t &	out,
		const std::optional< mrpt::poses::CPose3D > &	robotPose
	)		const

protectedvirtual

Process a 3D lidar scan.

Returns: false if not implemented

Definition at line 178 of file Generator.cpp.

◆ implProcessCustomMap()

bool Generator::implProcessCustomMap	(	const mrpt::obs::CObservation &	o,
		mp2p_icp::metric_map_t &	out,
		const std::optional< mrpt::poses::CPose3D > &	robotPose = `std::nullopt`
	)		const

private

Definition at line 451 of file Generator.cpp.

◆ implProcessDefault()

bool Generator::implProcessDefault	(	const mrpt::obs::CObservation &	o,
		mp2p_icp::metric_map_t &	out,
		const std::optional< mrpt::poses::CPose3D > &	robotPose = `std::nullopt`
	)		const

private

Definition at line 354 of file Generator.cpp.

◆ initialize()

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

virtual

Loads, from a YAML configuration block, all the common, and implementation-specific parameters. If you redefine this method, remember calling this method on the parent class.

Reimplemented in mp2p_icp_filters::GeneratorEdgesFromCurvature, and mp2p_icp_filters::GeneratorEdgesFromRangeImage.

Definition at line 123 of file Generator.cpp.

◆ internalLoadUserPlugin()

void Generator::internalLoadUserPlugin ( const std::string & moduleToLoad ) const

private

Definition at line 606 of file Generator.cpp.

◆ process()

bool Generator::process	(	const mrpt::obs::CObservation &	input_raw,
		mp2p_icp::metric_map_t &	inOut,
		const std::optional< mrpt::poses::CPose3D > &	robotPose = `std::nullopt`
	)		const

virtual

See docs above for Generator. This method dispatches the observation by type to the corresponding virtual method

Reimplemented in mp2p_icp_filters::GeneratorEdgesFromCurvature.

Definition at line 138 of file Generator.cpp.

Member Data Documentation

◆ initialized_

bool mp2p_icp_filters::Generator::initialized_ = false

protected

Definition at line 179 of file Generator.h.

◆ params_

Parameters mp2p_icp_filters::Generator::params_

Definition at line 147 of file Generator.h.

◆ process_class_names_regex_

std::regex mp2p_icp_filters::Generator::process_class_names_regex_

protected

Definition at line 180 of file Generator.h.

◆ process_sensor_labels_regex_

std::regex mp2p_icp_filters::Generator::process_sensor_labels_regex_

protected

Definition at line 181 of file Generator.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Generator API

Detailed Description

Constructor & Destructor Documentation

◆ Generator()

Member Function Documentation

◆ filterPointCloud()

◆ filterRotatingScan()

◆ filterScan2D()

◆ filterScan3D()

◆ filterVelodyneScan()

◆ implProcessCustomMap()

◆ implProcessDefault()

◆ initialize()

◆ internalLoadUserPlugin()

◆ process()

Member Data Documentation

◆ initialized_

◆ params_

◆ process_class_names_regex_

◆ process_sensor_labels_regex_