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
Definition at line 76 of file CRangeScanOps.h.
#include <mrpt/graphslam/misc/CRangeScanOps.h>
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void | getICPEdge (const mrpt::obs::CObservation2DRangeScan &from, const mrpt::obs::CObservation2DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr) |
Align the 2D range scans provided and fill the potential edge that can transform the one into the other. More... | |
void | getICPEdge (const mrpt::obs::CObservation3DRangeScan &from, const mrpt::obs::CObservation3DRangeScan &to, constraint_t *rel_edge, const mrpt::poses::CPose2D *initial_pose=nullptr, mrpt::slam::CICP::TReturnInfo *icp_info=nullptr) |
Align the 3D range scans provided and find the potential edge that can transform the one into the other. More... | |
void | decimatePointsMap (mrpt::maps::CPointsMap *m, size_t keep_point_every=4, size_t low_lim=0) |
Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points. More... | |
bool | convert3DTo2DRangeScan (mrpt::obs::CObservation3DRangeScan::Ptr &scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *scan2D_out=nullptr) |
Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. More... | |
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TParams | params |
using | constraint_t = typename GRAPH_T::constraint_t |
Handy typedefs. More... | |
using | self_t = CRangeScanOps< GRAPH_T > |
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Handy typedefs.
Definition at line 80 of file CRangeScanOps.h.
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Definition at line 81 of file CRangeScanOps.h.
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Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.
Definition at line 147 of file CRangeScanOps_impl.h.
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Reduce the size of the given CPointsMap by keeping one out of "keep_point_every" points.
Definition at line 113 of file CRangeScanOps_impl.h.
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Align the 2D range scans provided and fill the potential edge that can transform the one into the other.
User can optionally ask that additional information be returned in a TReturnInfo struct
Definition at line 20 of file CRangeScanOps_impl.h.
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::checkRegistrationCondition2D().
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Align the 3D range scans provided and find the potential edge that can transform the one into the other.
Fills the 2D part (rel_edge) of the 3D constraint between the scans, since we are interested in computing the 2D alignment. User can optionally ask that additional information be returned in a TReturnInfo struct
Definition at line 55 of file CRangeScanOps_impl.h.
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Definition at line 153 of file CRangeScanOps.h.
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