我正在嘗試讀取激光掃描數據,然後使用它來構建環境的地圖 。在mrpt中讀取外部2D激光掃描數據
我的問題是,我不明白數據必須提供給CObservation2DRangeScan對象的格式。
我已經試過:
X,Y,X,Y,...
Y,X,Y,X,...
X,X,Y,Y,...
Y,Y,X,X,...
我把數據寫入一個rawlog文件,然後看看它在rawlog觀衆。 我使用[1,1],並且該點出現在X = -1和Y = 0。這是爲什麼?
下面是從rawlog觀衆
Timestamp (UTC): 2016/06/21,07:22:42.166880
(as time_t): 1466493762.16688
(as TTimestamp): 131109673621668800
Sensor label: ''
Homogeneous matrix for the sensor's 3D pose, relative to robot base:
1.00000 0.00000 0.00000 0.00000
0.00000 1.00000 0.00000 0.00000
0.00000 0.00000 1.00000 0.00000
0.00000 0.00000 0.00000 1.00000(x,y,z,yaw,pitch,roll)
(0.0000,0.0000,0.0000,0.00deg,-0.00deg,0.00deg)
Samples direction: Right->Left
Points in the scan: 2
Estimated sensor 'sigma': 0.010000
Increment in pitch during the scan: 0.000000 deg
Invalid points in the scan: 0
Sensor maximum range: 80.00 m
Sensor field-of-view ("aperture"): 360.0 deg
Raw scan values: [1.000 1.000 ]
Raw valid-scan values: [1 1 ]
這裏的數據是我使用的代碼:我不完全熟悉MRPT的激光數據類的細節
CSensoryFrame SF;
CActionCollection actionCol;
CPose2D actualOdometryReading(0.0f, 0.0f, DEG2RAD(.0f));
// Prepare the "options" structure:
CActionRobotMovement2D actMov;
CActionRobotMovement2D::TMotionModelOptions opts;
opts.modelSelection = CActionRobotMovement2D::mmThrun;
opts.thrunModel.alfa3_trans_trans = 0.10f;
// Create the probability density distribution (PDF) from a 2D odometry reading:
actMov.computeFromOdometry(actualOdometryReading, opts);
actionCol.insert(actMov);
CObservation2DRangeScanPtr myObs = CObservation2DRangeScan::Create();
myObs->scan = scan; // = [1,0]
myObs->validRange = vranges; // = [1,1]
myObs->aperture = 2 * M_PI;
SF.insert(myObs);
那麼問題是如何使用點形式的激光掃描數據,而不是範圍測量。 – mase
你可能想要使用類似['CSimplePointsMap'](http://reference.mrpt.org/devel/classmrpt_1_1maps_1_1_c_simple_points_map.html)的東西。 – mindriot