#include <FilterDecimateVoxelsQuadratic.h>

Inheritance diagram for mp2p_icp_filters::FilterDecimateVoxelsQuadratic:

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Classes
struct	Parameters

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

	FilterDecimateVoxelsQuadratic ()

float	grid2real (float y) const

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

float	real2grid (float x) const

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

virtual	~FilterBase ()

Public Member Functions inherited from mp2p_icp::Parameterizable
ParameterSource *	attachedSource ()

const ParameterSource *	attachedSource () const

virtual void	attachToParameterSource (ParameterSource &source)

void	checkAllParametersAreRealized () const

auto &	declaredParameters ()

const auto &	declaredParameters () const

void	unrealizeParameters ()
	Mark all non-constant parameters as non-evaluated again. More...

Public Attributes
Parameters	params_

Private Attributes
PointCloudToVoxelGrid	filter_grid_

float	quadratic_reference_radius_inv_ = 1.0f

Additional Inherited Members
Protected Member Functions inherited from mp2p_icp::Parameterizable
void	parseAndDeclareParameter (const std::string &value, double &target)

void	parseAndDeclareParameter (const std::string &value, float &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

void	parseAndDeclareParameter (const std::string &value, uint32_t &target)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Detailed Description

Builds a new layer with a decimated version of an input layer, with a non-linear spatial lattice with wider voxels near the origin.

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 38 of file FilterDecimateVoxelsQuadratic.h.