#include <Generator.h>
Classes | |
struct | Parameters |
Public Member Functions | |
Generator () | |
Protected Member Functions | |
virtual bool | filterPointCloud (const mrpt::maps::CPointsMap &pc, mp2p_icp::metric_map_t &out) const |
virtual bool | filterRotatingScan (const mrpt::obs::CObservationRotatingScan &pc, mp2p_icp::metric_map_t &out) const |
virtual bool | filterScan2D (const mrpt::obs::CObservation2DRangeScan &pc, mp2p_icp::metric_map_t &out) const |
virtual bool | filterScan3D (const mrpt::obs::CObservation3DRangeScan &pc, mp2p_icp::metric_map_t &out) const |
virtual bool | filterVelodyneScan (const mrpt::obs::CObservationVelodyneScan &pc, mp2p_icp::metric_map_t &out) const |
Protected Attributes | |
bool | initialized_ = false |
std::regex | process_class_names_regex_ |
std::regex | process_sensor_labels_regex_ |
Generator API | |
Parameters | params_ |
virtual void | initialize (const mrpt::containers::yaml &cfg_block) |
virtual void | process (const mrpt::obs::CObservation &input_raw, mp2p_icp::metric_map_t &inOut) const |
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 pointcloud-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, fifferent signatures exists for:
Derived classes may implement all or only one of those methods. An exception NotImplementedError will be thrown if an non-implemented method is called.
A set of generators can be loaded from a YAML file and applied together using mp2p_icp_filters::apply_generators().
Definition at line 72 of file Generator.h.
Generator::Generator | ( | ) |
Definition at line 28 of file Generator.cpp.
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protectedvirtual |
Process a 2D/3D point-cloud.
Definition at line 177 of file Generator.cpp.
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protectedvirtual |
Process a 3D lidar scan.
Definition at line 202 of file Generator.cpp.
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protectedvirtual |
Process a 2D lidar scan.
Definition at line 156 of file Generator.cpp.
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protectedvirtual |
Process a depth camera observation.
Definition at line 170 of file Generator.cpp.
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protectedvirtual |
Process a 3D lidar scan.
Definition at line 163 of file Generator.cpp.
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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.
Definition at line 38 of file Generator.cpp.
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virtual |
See docs above for Generator. This method dispatches the observation by type to the corresponding virtual method
Definition at line 53 of file Generator.cpp.
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protected |
Definition at line 147 of file Generator.h.
Parameters mp2p_icp_filters::Generator::params_ |
Definition at line 121 of file Generator.h.
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protected |
Definition at line 148 of file Generator.h.
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protected |
Definition at line 149 of file Generator.h.