#include <FilterEdgesPlanes.h>

Inheritance diagram for mp2p_icp_filters::FilterEdgesPlanes:

[legend]

Classes
struct	Parameters

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

	FilterEdgesPlanes ()

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
Parameters	params_

Private Attributes
PointCloudToVoxelGrid	filter_grid_

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

Accepts as input a point cloud, and classifies points into edges and planes.

Based on the LOAM paper (Zhang, Ji, and Sanjiv Singh. "LOAM: Lidar odometry and mapping in real-time." Robotics: Science and systems. Vol. 2. No. 9. 2014.).

Not compatible with calling from different threads simultaneously for different input point clouds. Use independent instances for each thread if needed.

Definition at line 34 of file FilterEdgesPlanes.h.

Constructor & Destructor Documentation

◆ FilterEdgesPlanes()

FilterEdgesPlanes::FilterEdgesPlanes ( )

default

Member Function Documentation

◆ filter()

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

overridevirtual

See docs above for FilterBase.

Implements mp2p_icp_filters::FilterBase.

Definition at line 52 of file FilterEdgesPlanes.cpp.

◆ initialize()

void FilterEdgesPlanes::initialize ( const mrpt::containers::yaml & cfg_block )

overridevirtual

Loads, from a YAML configuration block, all the common, and implementation-specific parameters.

Implements mp2p_icp_filters::FilterBase.

Definition at line 40 of file FilterEdgesPlanes.cpp.

Member Data Documentation

◆ filter_grid_

PointCloudToVoxelGrid mp2p_icp_filters::FilterEdgesPlanes::filter_grid_

mutableprivate

Definition at line 70 of file FilterEdgesPlanes.h.

◆ params_

Parameters mp2p_icp_filters::FilterEdgesPlanes::params_

Algorithm parameters

Definition at line 67 of file FilterEdgesPlanes.h.

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

Classes

Public Member Functions

Public Attributes

Private Attributes

Additional Inherited Members