class mp2p_icp_filters::GeneratorEdgesFromCurvature

Overview

Generator of edge points from organized point clouds

#include <GeneratorEdgesFromCurvature.h>

class GeneratorEdgesFromCurvature: public mp2p_icp_filters::Generator
{
public:
    // structs

    struct ParametersEdges;

    // fields

    ParametersEdges paramsEdges_;

    // methods

    virtual void initialize(const mrpt::containers::yaml& cfg_block);

    virtual bool process(
        const mrpt::obs::CObservation& input_raw,
        mp2p_icp::metric_map_t& inOut,
        const std::optional<mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;
};

Inherited Members

public:
    // structs

    struct Parameters;

    // methods

    virtual void initialize(const mrpt::containers::yaml& cfg_block);

    virtual bool process(
        const mrpt::obs::CObservation& input_raw,
        mp2p_icp::metric_map_t& inOut,
        const std::optional<mrpt::poses::CPose3D>& robotPose = std::nullopt
        ) const;

Methods

virtual void initialize(const mrpt::containers::yaml& cfg_block)

Loads, from a YAML configuration block, all the common, and implementation-specific parameters. If you redefine this method, remember calling this method on the parent class.

virtual bool process(
    const mrpt::obs::CObservation& input_raw,
    mp2p_icp::metric_map_t& inOut,
    const std::optional<mrpt::poses::CPose3D>& robotPose = std::nullopt
    ) const

See docs above for Generator. This method dispatches the observation by type to the corresponding virtual method