/// <summary>
/// Constructor
/// </summary>
/// <param name="mapResolution"></param>
/// <param name="mapSizeX"></param>
/// <param name="mapSizeY"></param>
/// <param name="startCoords"></param>
/// <param name="multiResSize"></param>
/// <param name="drawInterface"></param>
/// <param name="debugInterface"></param>
public HectorSLAMProcessor(float mapResolution, int mapSizeX, int mapSizeY, Vector2 startCoords, int multiResSize, IDrawInterface drawInterface = null, IHectorDebugInfo debugInterface = null)
{
this.drawInterface = drawInterface;
this.debugInterface = debugInterface;
MapRep = new MapRepMultiMap(mapResolution, mapSizeX, mapSizeY, multiResSize, startCoords, drawInterface, debugInterface);
Reset();
MinDistanceDiffForMapUpdate = 0.4f * 1.0f;
MinAngleDiffForMapUpdate = 0.13f * 1.0f;
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="mapResolution">Meters per pixel</param>
/// <param name="mapSize">Map size in pixels</param>
/// <param name="startPose">Start pose (X and Y in meters, Z in degrees)</param>
/// <param name="numDepth">Number of maps</param>
/// <param name="numThreads">Number of processing threads</param>
public HectorSLAMProcessor(float mapResolution, Point mapSize, Vector3 startPose, int numDepth, int numThreads, ILogger logger = null)
{
this.logger = logger;
this.startPose = startPose;
MapRep = new MapRepMultiMap(mapResolution, mapSize, numDepth, Vector2.Zero);
scanMatcher = new ScanMatcher(numThreads, logger);
// Set initial poses
MatchPose = startPose;
LastMapUpdatePose = new Vector3(float.MinValue, float.MinValue, float.MinValue);
}