template class mrpt::graphslam::deciders::CRangeScanOps

Class for keeping together all the RangeScanner-related functions.

Deciders that make use of either 2DRangeScans (laser generated observations) or 3DRangeScans (RGBD-cameras) can inherit from this class in case they want to use the underlying methods

• conversion_sensor_label

  • Default value : “KINECT_TO_2D_SCAN”

  • Required : FALSE

  • Description : Applicable only when dealing with 3DRangeScans. Used for converting 3DRangeScan to 2DRangesScan so that they are visualized on the 2D surface

• conversion_angle_sup

  • Default value : 10

  • Required : FALSE

  • Description : Applicable only when dealing with 3DRangeScans. Used for converting 3DRangeScan to 2DRangesScan so that they are visualized on the 2D surface

• conversion_angle_inf

  • Default value : 10

  • Required : FALSE

  • Description : Applicable only when dealing with 3DRangeScans. Used for converting 3DRangeScan to 2DRangesScan so that they are visualized on the 2D surface

• conversion_oversampling_ratio

  • Default value : 1.1

  • Required : FALSE

  • Description : Applicable only when dealing with 3DRangeScans. Used for converting 3DRangeScan to 2DRangesScan so that they are visualized on the 2D surface

Class contains an instance of the mrpt::slam::CICP class and it parses the configuration parameters of the latter from the “ICP” section. Refer to mrpt::slam::CICP documentation for its list of configuration parameters

#include <mrpt/graphslam/misc/CRangeScanOps.h>

template <class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class CRangeScanOps
{
public:
    // structs

    struct TParams;
};

// direct descendants

template <class GRAPH_T>
class CICPCriteriaNRD;

template <class GRAPH_T>
class CRangeScanEdgeRegistrationDecider;