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16 #ifndef __PBMAPLOCALISER_H
17 #define __PBMAPLOCALISER_H
19 #include <mrpt/config.h>
70 std::map<unsigned, std::vector<std::pair<double, int>>>
evalColor ;
std::map< unsigned, std::vector< std::pair< double, int > > > evalColor
void LoadPreviousPbMaps(std::string fileMaps)
bool m_pbMapLocaliser_finished
bool searchPlaneContext(Plane &searchPlane)
! Searches the input plane in the rest of planes of the map taking into account the neighboring relat...
std::vector< PbMap > previousPbMaps
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
std::map< std::string, std::pair< int, double > > planeRecognitionLUT
bool m_pbMapLocaliser_must_stop
std::map< unsigned, unsigned > bestMatch
PbMapLocaliser(PbMap &mPbM, const std::string &config_file)
std::vector< std::string > previousPbMapNames
A class used to store a planar feature (Plane for short).
std::map< std::string, pcl::PointXYZ > foundPlaces
A class used to store a Plane-based Map (PbMap).
std::thread pbMapLocaliser_hd
GLsizei const GLchar ** string
bool stop_pbMapLocaliser()
void compareSubgraphNeighbors(SubgraphMatcher &matcher)
std::vector< unsigned > vQueueObservedPlanes
pcl::PointCloud< pcl::PointXYZRGBA >::Ptr alignedModelPtr
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