#include <FilterRemoveByVoxelOccupancy.h>

Inheritance diagram for mp2p_icp_filters::FilterRemoveByVoxelOccupancy:

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Classes
struct	Parameters

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

	FilterRemoveByVoxelOccupancy ()

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_

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

Removes points from an input point cloud layer by occupancy of another input voxel layer. Can be used to remove dynamic objects. Both input layers are assumed to be in the same frame of reference.

There are two output layer (you can define one or both):

output_layer_static_objects: for those points within voxels with high occupancy ("static objects").
output_layer_dynamic_objects: for those points within voxels with low occupancy ("dynamic objects").

The input layers are:

input_pointcloud_layer: The input cloud.
input_voxel_layer: It must be of type mrpt::maps::CVoxelMap and contains the occupancy of each volume of the map.

Definition at line 41 of file FilterRemoveByVoxelOccupancy.h.