template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
class mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >
Class for keeping together all the RangeScanner-related functions.
Description
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
.ini Configuration Parameters
The configuration parameters of the current decider class are listed below.
These parameters are parsed from an external .ini configuration file from their
respective section. If an optional parameter is not found a default value is
used instead. If a mandatory/required parameter is not found a runtime error is
raised. For a sample configuration file see
$mrpt/share/mrpt/config_files/graphslam-engine/laser_odometry.ini (Modify $mrpt
according to the path of your mrpt source directory).
- 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
- Note
- 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
Definition at line 71 of file 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...
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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...
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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...
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bool | convert3DTo2DRangeScan (mrpt::obs::CObservation3DRangeScan::Ptr &scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *scan2D_out) |
| Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method. More...
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