Method setKeyParams

include/MISC/Scancontext.h:73–81

SCManager(double LIDAR_HEIGHT,int PC_NUM_RING,int PC_NUM_SECTOR,double PC_MAX_RADIUS): LIDAR_HEIGHT(LIDAR_HEIGHT), PC_NUM_RING(PC_NUM_RING),PC_NUM_SECTOR(PC_NUM_SECTOR),PC_MAX_RADIUS(PC_MAX_RADIUS){ PC_UNIT_SECTORANGLE = 360.0 / double(PC_NUM_SECTOR); PC_UNIT_RINGGAP = PC_MAX_RADIUS / double(PC_NUM_RING); } // reserving data space (of std::vector) could be considered. but the descriptor is lightwe

    //         PC_UNIT_RINGGAP = PC_MAX_RADIUS / double(PC_NUM_RING);
        // } // reserving data space (of std::vector) could be considered. but the descriptor is lightweight so don't care.
    void setKeyParams(double LIDAR_HEIGHT1,int PC_NUM_RING1,int PC_NUM_SECTOR1,double PC_MAX_RADIUS1,double SC_DIST_THRES1){
        LIDAR_HEIGHT = LIDAR_HEIGHT1;
        PC_NUM_RING = PC_NUM_RING1;
        PC_NUM_SECTOR = PC_NUM_SECTOR1;
        PC_MAX_RADIUS = PC_MAX_RADIUS1;
        PC_UNIT_SECTORANGLE = 360.0 / double(PC_NUM_SECTOR);
        PC_UNIT_RINGGAP = PC_MAX_RADIUS / double(PC_NUM_RING);
        SC_DIST_THRES = SC_DIST_THRES1;
    }
    Eigen::MatrixXd makeScancontext( pcl::PointCloud<PointType> & _scan_down );
    Eigen::MatrixXd makeRingkeyFromScancontext( Eigen::MatrixXd &_desc );
    Eigen::MatrixXd makeSectorkeyFromScancontext( Eigen::MatrixXd &_desc );