Function mrpt::slam::path_from_rtk_gps

Function Documentation

void mrpt::slam::path_from_rtk_gps(mrpt::poses::CPose3DInterpolator &robot_path, const mrpt::obs::CRawlog &rawlog, size_t rawlog_first, size_t rawlog_last, bool disableGPSInterp = false, int path_smooth_filter_size = 2, TPathFromRTKInfo *outInfo = nullptr)

Reconstruct the path of a vehicle equipped with 3 RTK GPSs.

For more details on the method, refer to the paper: (…)

See also

mrpt::topography

Parameters:

  • robot_path – [OUT] The reconstructed vehicle path

  • rawlog – [IN] The dataset. It must contain mrpt::obs::CObservationGPS observations with GGA datums.

  • rawlog_first – [IN] The index of the first entry to process (first=0)

  • rawlog_last – [IN] The index of the last entry to process

  • disableGPSInterp – [IN] Whether to interpolate missing GPS readings between very close datums.

  • path_smooth_filter_size – [IN] Size of the window in the pitch & roll noise filtering.

  • outInfo – [OUT] Optional output: additional information from the optimization