struct mola::LidarOdometry::PreprocessedScan

Overview

The output of preprocessScan(), the first stage of processLidarScan().

processLidarScan() runs these stages in order, with state_mtx_ held:

  1. preprocessScan() : points from the raw observation(s), de-skew, filters;

  2. the first-scan map initialization, or ICP against the local map and the keyframe decision;

  3. insertScanIntoLocalMap(), for a new keyframe;

  4. the simplemap and shared keyframe-map updates;

  5. publishScanResults().

struct PreprocessedScan
{
    // fields

    mp2p_icp::metric_map_t::Ptr observation;
    mp2p_icp::metric_map_t observationRawForViz;
    mrpt::maps::CPointsMap::Ptr fullCloudForVizAndPublish;
    bool usedEarlyDeskew = false;
};

Fields

mp2p_icp::metric_map_t::Ptr observation

The filtered observation layers: the ICP and local-map input.

mp2p_icp::metric_map_t observationRawForViz

Only the “raw” layer, for the GUI.

mrpt::maps::CPointsMap::Ptr fullCloudForVizAndPublish

The whole de-skewed cloud (or the raw one, without de-skew), for the GUI and for publishing.

bool usedEarlyDeskew = false

Whether the early de-skew ran.