Template Function beluga::io::load_from_hdf5

• Defined in File ndt_sensor_model.hpp

Function Documentation

template<typename NDTMapRepresentationT>
NDTMapRepresentationT beluga::io::load_from_hdf5(const std::filesystem::path &path_to_hdf5_file)

Loads a 2D or 3D NDT map representation from a hdf5 file, with the following datasets:

• ”resolution”: () resolution for the discrete grid (cells are resolution x resolution m^2 squares for the 2D case and resolution**3 cubes for the 3D case).

• ”cells”: (NUM_CELLS, 2 / 3) that contains the cell coordinates.

• ”means”: (NUM_CELLS, 2 / 3) that contains the 2d mean of the normal distribution of the cell.

• ”covariances”: (NUM_CELLS, 2 / 3, 2 / 3) Contains the covariance for each cell.

Template Parameters:

NDTMapRepresentation – A specialized SparseValueGrid (see sensor/data/sparse_value_grid.hpp), where mapped_type == NDTCell2d / NDTCell3d, that will represent the NDT map as a mapping from 2D / 3D cells to NDTCells.