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10 #ifndef CRANGESCANOPS_H
11 #define CRANGESCANOPS_H
75 template <
class GRAPH_T =
typename mrpt::graphs::CNetworkOfPoses2DInf>
bool convert3DTo2DRangeScan(mrpt::obs::CObservation3DRangeScan::Ptr &scan3D_in, mrpt::obs::CObservation2DRangeScan::Ptr *scan2D_out=nullptr)
Wrapper around the CObservation3DRangeScan::convertTo2DScan corresponding method.
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Used in CObservation3DRangeScan::convertTo2DScan()
The ICP algorithm return information.
GLsizei GLsizei GLchar * source
void dumpToTextStream(std::ostream &out) const
This method should clearly display all the contents of the structure in textual form,...
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
mrpt::obs::T3DPointsTo2DScanParams conversion_params
Struct holding the parameters of 3D to the corresponding 2D range scan conversion.
Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a ...
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 oth...
std::shared_ptr< CObservation2DRangeScan > Ptr
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.
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion)
This method load the options from a ".ini"-like file or memory-stored string list.
std::shared_ptr< CObservation3DRangeScan > Ptr
typename typename mrpt::graphs::CNetworkOfPoses2DInf ::constraint_t constraint_t
Handy typedefs.
GLsizei const GLchar ** string
Class for keeping together all the RangeScanner-related functions.
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