class mp2p_icp::IcpPrepareCapable

Overview

Virtual interface for maps needing getting ready for ICP

#include <IcpPrepareCapable.h>

class IcpPrepareCapable
{
public:
    // construction

    IcpPrepareCapable();
    IcpPrepareCapable(const IcpPrepareCapable&);
    IcpPrepareCapable(IcpPrepareCapable&&);

    // methods

    IcpPrepareCapable& operator = (const IcpPrepareCapable&);
    IcpPrepareCapable& operator = (IcpPrepareCapable&&);

    virtual void icp_get_prepared_as_global(
        const mrpt::poses::CPose3D& icp_ref_point,
        const std::optional<mrpt::math::TBoundingBoxf>& local_map_roi = std::nullopt
        ) const = 0;

    virtual void icp_cleanup() const;
};

// direct descendants

class KeyframePointCloudMap;

Methods

virtual void icp_get_prepared_as_global(
    const mrpt::poses::CPose3D& icp_ref_point,
    const std::optional<mrpt::math::TBoundingBoxf>& local_map_roi = std::nullopt
    ) const = 0

Prepare the global map for ICP with a given pose as the current ICP estimate for local map This will be called only once per whole ICP run.

virtual void icp_cleanup() const

Optionally, clean up after ICP is done.