#include <FilterDeskew.h>

Inheritance diagram for mp2p_icp_filters::FilterDeskew:

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

	FilterDeskew ()

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

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
std::string	input_pointcloud_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW

std::string	output_layer_class = "mrpt::maps::CPointsMapXYZI"

std::string	output_pointcloud_layer

bool	silently_ignore_no_timestamps = false

bool	skip_deskew = false

mrpt::math::TTwist3D	twist

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 deskewed (motion compensated) version of an input pointcloud from a moving LIDAR, where points are time-stamped.

Important notes:

The time field of each point is assumed to be in seconds since the begining of the scan (e.g. from 0.0 to 0.1 for 10 Hz scans).
The input layer must contain a point cloud in the format mrpt::maps::CPointsMapXYZIRT so timestamps are present.
If the input layer is of a different type, or the time field is missing, an exception will be thrown by default, unless the option silently_ignore_no_timestamps is set to true, in which case the input cloud will be just moved forward to the output.

Definition at line 39 of file FilterDeskew.h.

Constructor & Destructor Documentation

◆ FilterDeskew()

FilterDeskew::FilterDeskew ( )

Definition at line 35 of file FilterDeskew.cpp.

Member Function Documentation

◆ filter()

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

overridevirtual

See docs above for FilterBase.

Implements mp2p_icp_filters::FilterBase.

Definition at line 61 of file FilterDeskew.cpp.

◆ initialize()

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

overridevirtual

Parameters:

params:
  input_pointcloud_layer: 'raw'
  output_pointcloud_layer: 'deskewed'
  # silently_ignore_no_timestamps: false
  # skip_deskew: false  # Can be enabled to bypass deskew
  # These (vx,...,wz) are variable names that must be defined via the
  # mp2p_icp::Parameterizable API to update them dynamically.
  twist: [vx,vy,vz,wx,wy,wz]

Implements mp2p_icp_filters::FilterBase.

Definition at line 40 of file FilterDeskew.cpp.

Member Data Documentation

◆ input_pointcloud_layer

std::string mp2p_icp_filters::FilterDeskew::input_pointcloud_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW

An input layer, from which to read input points Points must be already in the vehicle frame.

Definition at line 67 of file FilterDeskew.h.

◆ output_layer_class

std::string mp2p_icp_filters::FilterDeskew::output_layer_class = "mrpt::maps::CPointsMapXYZI"

The class name for output layer if it does not exist and needs to be created

Definition at line 74 of file FilterDeskew.h.

◆ output_pointcloud_layer

std::string mp2p_icp_filters::FilterDeskew::output_pointcloud_layer

The output point cloud layer name

Definition at line 70 of file FilterDeskew.h.

◆ silently_ignore_no_timestamps

bool mp2p_icp_filters::FilterDeskew::silently_ignore_no_timestamps = false

Whether to skip throwing an exception if the input layer does not contain timestamps.

Definition at line 79 of file FilterDeskew.h.

◆ skip_deskew

bool mp2p_icp_filters::FilterDeskew::skip_deskew = false

If enabled (set to true), no "de-skew" will be performed, and the input points will be just copied into the output layer.

Definition at line 84 of file FilterDeskew.h.

◆ twist

mrpt::math::TTwist3D mp2p_icp_filters::FilterDeskew::twist

The velocity (linear and angular) of the vehicle in the local vehicle frame. See FilterDeskew::initialize for an example of how to define it via dynamic variables.

Definition at line 90 of file FilterDeskew.h.

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

Public Member Functions

Public Attributes

Additional Inherited Members