| 36 | |
| 37 | @dataclass |
| 38 | class Data: |
| 39 | local_maps: list = field(default_factory=list) |
| 40 | density_maps: list = field(default_factory=list) |
| 41 | local_maps_scan_index_range: list = field(default_factory=list) |
| 42 | ground_alignment_transforms: list = field(default_factory=list) |
| 43 | closures: list = field(default_factory=list) |
| 44 | |
| 45 | def append_localmap( |
| 46 | self, |
| 47 | local_map: np.ndarray, |
| 48 | density_map: np.ndarray, |
| 49 | ground_alignment_transform: np.ndarray, |
| 50 | scan_index_range: List[int], |
| 51 | ): |
| 52 | self.local_maps.append(local_map) |
| 53 | self.density_maps.append(density_map) |
| 54 | self.ground_alignment_transforms.append(ground_alignment_transform) |
| 55 | self.local_maps_scan_index_range.append(scan_index_range) |
| 56 | |
| 57 | def append_closure(self, closure: ClosureCandidate): |
| 58 | self.closures.append(np.r_[closure.source_id, closure.target_id, closure.pose.flatten()]) |