mp2p_icp_filters::Generator Class Reference

#include <Generator.h>

Inheritance diagram for mp2p_icp_filters::Generator:

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

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 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:

• 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 72 of file Generator.h.

Constructor & Destructor Documentation

Generator()

Generator::Generator

(

)

Definition at line 28 of file Generator.cpp.

Member Function Documentation

filterPointCloud()

bool Generator::filterPointCloud ( const mrpt::maps::CPointsMap &  pc, mp2p_icp::metric_map_t &  out  ) const

protectedvirtual

Process a 2D/3D point-cloud.

Returns

false if not implemented

Definition at line 177 of file Generator.cpp.

filterRotatingScan()

bool Generator::filterRotatingScan ( const mrpt::obs::CObservationRotatingScan &  pc, mp2p_icp::metric_map_t &  out  ) const

protectedvirtual

Process a 3D lidar scan.

Returns

false if not implemented

Definition at line 202 of file Generator.cpp.

filterScan2D()

bool Generator::filterScan2D ( const mrpt::obs::CObservation2DRangeScan &  pc, mp2p_icp::metric_map_t &  out  ) const

protectedvirtual

Process a 2D lidar scan.

Returns

false if not implemented

Definition at line 156 of file Generator.cpp.

filterScan3D()

bool Generator::filterScan3D ( const mrpt::obs::CObservation3DRangeScan &  pc, mp2p_icp::metric_map_t &  out  ) const

protectedvirtual

Process a depth camera observation.

Returns

false if not implemented

Definition at line 170 of file Generator.cpp.

filterVelodyneScan()

bool Generator::filterVelodyneScan ( const mrpt::obs::CObservationVelodyneScan &  pc, mp2p_icp::metric_map_t &  out  ) const

protectedvirtual

Process a 3D lidar scan.

Returns

false if not implemented

Definition at line 163 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.

Definition at line 38 of file Generator.cpp.

process()

void Generator::process ( const mrpt::obs::CObservation &  input_raw, mp2p_icp::metric_map_t &  inOut  ) const

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.

Member Data Documentation

initialized_

bool mp2p_icp_filters::Generator::initialized_ = false

protected

Definition at line 147 of file Generator.h.

params_

Parameters mp2p_icp_filters::Generator::params_

Definition at line 121 of file Generator.h.

process_class_names_regex_

std::regex mp2p_icp_filters::Generator::process_class_names_regex_

protected

Definition at line 148 of file Generator.h.

process_sensor_labels_regex_

std::regex mp2p_icp_filters::Generator::process_sensor_labels_regex_

protected

Definition at line 149 of file Generator.h.

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

• Generator.h
• Generator.cpp