Struct RelocalizationICP_SE2::Input

Nested Relationships

This struct is a nested type of Struct RelocalizationICP_SE2.

Nested Types

Struct Documentation

struct Input

Public Functions

Input() = default

Public Members

mp2p_icp::metric_map_t reference_map
mp2p_icp::metric_map_t local_map
std::vector<mp2p_icp::ICP::Ptr> icp_pipeline

If provided more than one, several ICP runs will be triggered in parallel threads.

mp2p_icp::Parameters icp_parameters
double icp_minimum_quality = 0.50
InputLattice initial_guess_lattice
OutputLattice output_lattice
std::function<void(const ProgressFeedback&)> on_progress_callback
struct InputLattice

Public Members

mrpt::math::TPose2D corner_min
mrpt::math::TPose2D corner_max
double resolution_xy = 1.0
double resolution_phi = mrpt::DEG2RAD(40.0)
struct OutputLattice

Public Members

double resolution_xyz = 0.10
double resolution_yaw = mrpt::DEG2RAD(5.0)
double resolution_pitch = mrpt::DEG2RAD(5.0)
double resolution_roll = mrpt::DEG2RAD(5.0)