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;