我正在尝试读取激光扫描数据,然后使用它来构建环境的地图 。在mrpt中读取外部2D激光扫描数据
我的问题是,我不明白数据必须提供给CObservation2DRangeScan对象的格式。
我已经试过:
X,Y,X,Y,...
Y,X,Y,X,...
X,X,Y,Y,...
Y,Y,X,X,...
我把数据写入一个rawlog文件,然后看看它在rawlog观众。 我使用[1,1],并且该点出现在X = -1和Y = 0。这是为什么?
下面是从rawlog观众
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 ]
这里的数据是我使用的代码:我不完全熟悉MRPT的激光数据类的细节
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);
那么问题是如何使用点形式的激光扫描数据,而不是范围测量。 – mase
你可能想要使用类似['CSimplePointsMap'](http://reference.mrpt.org/devel/classmrpt_1_1maps_1_1_c_simple_points_map.html)的东西。 – mindriot