18 #include <mrpt/config.h> 64 pcl::PointCloud<
PointT>::Ptr globalMapPtr;
66 pcl::PointCloud<pcl::PointXYZRGBA>::Ptr edgeCloudPtr;
67 pcl::PointCloud<pcl::PointXYZRGBA>::Ptr outEdgeCloudPtr;
68 unsigned background, foreground, groundplane;
71 void savePbMap(
std::
string filePath);
74 void loadPbMap(
std::
string PbMapFile);
77 void MergeWith(PbMap &pbm,
Eigen::Matrix4f &T);
80 void printPbMap(
std::
string txtFilePbm);
A class used to store a planar feature (Plane for short).
class BASE_IMPEXP CSerializable
#define DEFINE_SERIALIZABLE_POST_CUSTOM_LINKAGE(class_name, _LINKAGE_)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_LINKAGE(class_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A class used to store a Plane-based Map (PbMap).