#include <Generator.h>
Public Member Functions | |
| void | load_from_yaml (const mrpt::containers::yaml &c, Generator &parent) |
Public Attributes | |
| mrpt::containers::yaml | metric_map_definition |
| std::string | metric_map_definition_ini_file |
| std::string | process_class_names_regex = ".*" |
| std::string | process_sensor_labels_regex = ".*" |
| std::string | target_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW |
| bool | throw_on_unhandled_observation_class = false |
Definition at line 99 of file Generator.h.
| void Generator::Parameters::load_from_yaml | ( | const mrpt::containers::yaml & | c, |
| Generator & | parent | ||
| ) |
Definition at line 44 of file Generator.cpp.
| mrpt::containers::yaml mp2p_icp_filters::Generator::Parameters::metric_map_definition |
Read metric_map_definition_ini_file. Defining a custom metric map via this YAML structure is preferred, since parameterizable variables are supported in this way, while external .ini files must contain fixed static values only.
Definition at line 131 of file Generator.h.
| std::string mp2p_icp_filters::Generator::Parameters::metric_map_definition_ini_file |
If empty (default), a point cloud layer will be generated of type mrpt::maps::CSimplePointCloud, and the observation will be inserted via the virtual method mrpt::maps::CMetricMap::insertObservation()
Alternatively, if this variable or metric_map_definition are set, a custom metric map class can be defined via a mrpt::maps::CMultiMetricMap initializer list. If the CMultiMetricMap defines multiple metric maps, the first one only will be taken to generate the new layer.
This variable may be set to an external .ini file in the format expected by mrpt::maps::TSetOfMetricMapInitializers. The recomended alternative is to directly define the map setting in the YAML file.
Refer to example pipelines.
Definition at line 124 of file Generator.h.
| std::string mp2p_icp_filters::Generator::Parameters::process_class_names_regex = ".*" |
Sensor observation class names to process. Default = ".*" (any). Example: use "mrpt::obs::CObservation2DRangeScan" if you only want 2D lidar scans to be processed.
Definition at line 137 of file Generator.h.
| std::string mp2p_icp_filters::Generator::Parameters::process_sensor_labels_regex = ".*" |
Sensor labels to process. Default = ".*" (any). Examples: "LIDAR", "FRONT_KINECT", "LIDAR_.*"
Definition at line 142 of file Generator.h.
| std::string mp2p_icp_filters::Generator::Parameters::target_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW |
The map layer name where the observation will be loaded into. Default: "raw"
Definition at line 105 of file Generator.h.
| bool mp2p_icp_filters::Generator::Parameters::throw_on_unhandled_observation_class = false |
Definition at line 144 of file Generator.h.