Shadow.h
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2 // vim: ts=4:sw=4:noexpandtab
3 /*
4 
5 Copyright (c) 2010--2018,
6 François Pomerleau and Stephane Magnenat, ASL, ETHZ, Switzerland
7 You can contact the authors at <f dot pomerleau at gmail dot com> and
8 <stephane at magnenat dot net>
9 
10 All rights reserved.
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22 
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34 */
35 #pragma once
36 
37 #include "PointMatcher.h"
38 
40 template<typename T>
42 {
49 
50  typedef typename PointMatcher<T>::Vector Vector;
53 
54  inline static const std::string description()
55  {
56  return "Remove ghost points appearing on edge discontinuties. Assume that the origine of the point cloud is close to where the laser center was. Requires surface normal for every points";
57  }
58 
59  inline static const ParametersDoc availableParameters()
60  {
61  return {
62  {"eps", "Small angle (in rad) around which a normal shoudn't be observable", "0.1", "0.0", "3.1416", &P::Comp<T>}
63  };
64  }
65 
66  const T eps;
67 
69  ShadowDataPointsFilter(const Parameters& params = Parameters());
70 
71  virtual DataPoints filter(const DataPoints& input);
72  virtual void inPlaceFilter(DataPoints& cloud);
73 };
PointMatcher< T >::DataPoints DataPoints
Definition: Shadow.h:51
static const ParametersDoc availableParameters()
Definition: Shadow.h:59
public interface
Parametrizable::ParametersDoc ParametersDoc
Definition: Shadow.h:47
Parametrizable::InvalidParameter InvalidParameter
Definition: Shadow.h:48
::std::string string
Definition: gtest.h:1979
Shadow filter, remove ghost points appearing on edges.
Definition: Shadow.h:41
Parametrizable::ParameterDoc ParameterDoc
Definition: Shadow.h:46
virtual void inPlaceFilter(DataPoints &cloud)
Apply these filters to a point cloud without copying.
Definition: Shadow.cpp:62
static const std::string description()
Definition: Shadow.h:54
std::map< std::string, Parameter > Parameters
Parameters stored as a map of string->string.
Parametrizable::Parameters Parameters
Definition: Shadow.h:45
Functions and classes that are dependant on scalar type are defined in this templatized class...
Definition: PointMatcher.h:130
PointMatcherSupport::Parametrizable Parametrizable
Definition: Shadow.h:43
PointMatcherSupport::Parametrizable P
Definition: Shadow.h:44
The documentation of a parameter.
virtual DataPoints filter(const DataPoints &input)
Apply filters to input point cloud. This is the non-destructive version and returns a copy...
Definition: Shadow.cpp:53
The superclass of classes that are constructed using generic parameters. This class provides the para...
An exception thrown when one tries to fetch the value of an unexisting parameter. ...
std::vector< ParameterDoc > ParametersDoc
The documentation of all parameters.
ShadowDataPointsFilter(const Parameters &params=Parameters())
Constructor, uses parameter interface.
Definition: Shadow.cpp:42
PointMatcher< T >::Vector Vector
Definition: Shadow.h:50
An exception thrown when one tries to access features or descriptors unexisting or of wrong dimension...
Definition: PointMatcher.h:250
PointMatcher< T >::DataPoints::InvalidField InvalidField
Definition: Shadow.h:52
Eigen::Matrix< T, Eigen::Dynamic, 1 > Vector
A vector over ScalarType.
Definition: PointMatcher.h:161
PM::DataPointsFilter DataPointsFilter


libpointmatcher
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autogenerated on Sat May 27 2023 02:38:03