#include <FilterDecimateVoxels.h>

Inheritance diagram for mp2p_icp_filters::FilterDecimateVoxels:

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Classes
struct	Parameters

Public Member Functions
void	filter (mp2p_icp::metric_map_t &inOut) const override

	FilterDecimateVoxels ()

void	initialize (const mrpt::containers::yaml &c) override

Public Member Functions inherited from mp2p_icp_filters::FilterBase
	FilterBase ()

virtual	~FilterBase ()

Public Attributes
Parameters	params_

Private Attributes
PointCloudToVoxelGrid	filter_grid_

Detailed Description

Builds a new layer with a decimated version of an input layer.

This builds a voxel grid from the input point cloud, and then takes either, the mean of the points in the voxel, or one of the points picked at random, depending on the parameter use_voxel_average.

If the given output pointcloud layer already exists, new points will be appended, without clearing the former contents.

Not compatible with calling from different threads simultaneously for different input point clouds. Use independent instances for each thread if needed.

Definition at line 37 of file FilterDecimateVoxels.h.

Constructor & Destructor Documentation

◆ FilterDecimateVoxels()

FilterDecimateVoxels::FilterDecimateVoxels ( )

default

Member Function Documentation

◆ filter()

void FilterDecimateVoxels::filter ( mp2p_icp::metric_map_t & inOut ) const

overridevirtual

See docs above for FilterBase.

Implements mp2p_icp_filters::FilterBase.

Definition at line 69 of file FilterDecimateVoxels.cpp.

◆ initialize()

void FilterDecimateVoxels::initialize ( const mrpt::containers::yaml & cfg_block )

overridevirtual

Loads, from a YAML configuration block, all the common, and implementation-specific parameters.

Implements mp2p_icp_filters::FilterBase.

Definition at line 55 of file FilterDecimateVoxels.cpp.

Member Data Documentation

◆ filter_grid_

PointCloudToVoxelGrid mp2p_icp_filters::FilterDecimateVoxels::filter_grid_

mutableprivate

Definition at line 86 of file FilterDecimateVoxels.h.

◆ params_

Parameters mp2p_icp_filters::FilterDecimateVoxels::params_

Algorithm parameters

Definition at line 83 of file FilterDecimateVoxels.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Public Attributes

Private Attributes