submodules
mp2p_icp
mp2p_icp_filters
include
mp2p_icp_filters
FilterDecimateVoxels.h
Go to the documentation of this file.
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/* -------------------------------------------------------------------------
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* A repertory of multi primitive-to-primitive (MP2P) ICP algorithms in C++
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* Copyright (C) 2018-2021 Jose Luis Blanco, University of Almeria
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* See LICENSE for license information.
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* ------------------------------------------------------------------------- */
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#pragma once
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#include <
mp2p_icp/metricmap.h
>
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#include <
mp2p_icp_filters/FilterBase.h
>
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#include <
mp2p_icp_filters/PointCloudToVoxelGrid.h
>
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#include <mrpt/maps/CPointsMap.h>
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namespace
mp2p_icp_filters
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{
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class
FilterDecimateVoxels
:
public
mp2p_icp_filters::FilterBase
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{
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DEFINE_MRPT_OBJECT(
FilterDecimateVoxels
,
mp2p_icp_filters
)
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public
:
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FilterDecimateVoxels
();
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// See docs in base class.
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void
initialize
(
const
mrpt::containers::yaml& c)
override
;
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// See docs in FilterBase
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void
filter
(
mp2p_icp::metric_map_t
& inOut)
const override
;
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struct
Parameters
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{
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void
load_from_yaml
(
const
mrpt::containers::yaml& c);
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std::string
input_pointcloud_layer
=
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mp2p_icp::metric_map_t::PT_LAYER_RAW
;
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bool
error_on_missing_input_layer
=
true
;
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std::string
output_pointcloud_layer
;
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double
voxel_filter_resolution
= .20;
// [m]
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bool
use_voxel_average
=
false
;
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mrpt::math::TBoundingBoxf
bounding_box
= {
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{-10.0f, -10.0f, -5.0f}, {10.0f, 10.0f, 5.0f}};
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};
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Parameters
params_
;
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private
:
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mutable
PointCloudToVoxelGrid
filter_grid_
;
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};
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}
// namespace mp2p_icp_filters
mp2p_icp_filters::FilterDecimateVoxels::Parameters::output_pointcloud_layer
std::string output_pointcloud_layer
Definition:
FilterDecimateVoxels.h:62
mp2p_icp_filters::FilterDecimateVoxels::filter
void filter(mp2p_icp::metric_map_t &inOut) const override
Definition:
FilterDecimateVoxels.cpp:69
mp2p_icp::metric_map_t::PT_LAYER_RAW
constexpr static const char * PT_LAYER_RAW
Definition:
metricmap.h:56
testing::internal::string
::std::string string
Definition:
gtest.h:1979
mp2p_icp_filters::FilterDecimateVoxels::Parameters::bounding_box
mrpt::math::TBoundingBoxf bounding_box
Definition:
FilterDecimateVoxels.h:78
mp2p_icp_filters::PointCloudToVoxelGrid
Definition:
PointCloudToVoxelGrid.h:28
mp2p_icp_filters::FilterDecimateVoxels::filter_grid_
PointCloudToVoxelGrid filter_grid_
Definition:
FilterDecimateVoxels.h:86
mp2p_icp_filters::FilterDecimateVoxels::initialize
void initialize(const mrpt::containers::yaml &c) override
Definition:
FilterDecimateVoxels.cpp:55
mp2p_icp_filters::FilterDecimateVoxels::Parameters::load_from_yaml
void load_from_yaml(const mrpt::containers::yaml &c)
Definition:
FilterDecimateVoxels.cpp:25
mp2p_icp_filters::FilterDecimateVoxels::Parameters::use_voxel_average
bool use_voxel_average
Definition:
FilterDecimateVoxels.h:69
mp2p_icp_filters::FilterBase
Definition:
FilterBase.h:37
mp2p_icp_filters::FilterDecimateVoxels
Definition:
FilterDecimateVoxels.h:37
PointCloudToVoxelGrid.h
Makes an index of a point cloud using a voxel grid.
mp2p_icp_filters::FilterDecimateVoxels::Parameters::voxel_filter_resolution
double voxel_filter_resolution
Definition:
FilterDecimateVoxels.h:65
mp2p_icp_filters::FilterDecimateVoxels::FilterDecimateVoxels
FilterDecimateVoxels()
mp2p_icp_filters::FilterDecimateVoxels::Parameters::error_on_missing_input_layer
bool error_on_missing_input_layer
Definition:
FilterDecimateVoxels.h:59
FilterBase.h
Base virtual class for point cloud filters.
mp2p_icp_filters::FilterDecimateVoxels::params_
Parameters params_
Definition:
FilterDecimateVoxels.h:83
metricmap.h
Generic representation of pointcloud(s) and/or extracted features.
mp2p_icp_filters::FilterDecimateVoxels::Parameters
Definition:
FilterDecimateVoxels.h:49
mp2p_icp::metric_map_t
Generic container of pointcloud(s), extracted features and other maps.
Definition:
metricmap.h:47
mp2p_icp_filters::FilterDecimateVoxels::Parameters::input_pointcloud_layer
std::string input_pointcloud_layer
Definition:
FilterDecimateVoxels.h:53
mp2p_icp_filters
Definition:
FilterBase.h:25
mrpt_local_obstacles
Author(s): Jose-Luis Blanco-Claraco
autogenerated on Mon Aug 14 2023 02:09:02