18 #include <mrpt/maps/CPointsMap.h> 44 void initialize(
const mrpt::containers::yaml& c)
override;
79 {-10.0f, -10.0f, -5.0f}, {10.0f, 10.0f, 5.0f}};
std::string input_pointcloud_layer
bool error_on_missing_input_layer
Generic container of pointcloud(s), extracted features and other maps.
void load_from_yaml(const mrpt::containers::yaml &c)
Base virtual class for point cloud filters.
PointCloudToVoxelGrid filter_grid_
void filter(mp2p_icp::metric_map_t &inOut) const override
double voxel_filter_resolution
Generic representation of pointcloud(s) and/or extracted features.
std::string output_pointcloud_layer
static constexpr const char * PT_LAYER_RAW
mrpt::math::TBoundingBoxf bounding_box
Makes an index of a point cloud using a voxel grid.
void initialize(const mrpt::containers::yaml &c) override