mp2p_icp_filters library

LiDAR and point cloud segmentation and filtering algorithms. More...

Namespaces
	mp2p_icp_filters

Classes
class	mp2p_icp_filters::FilterAdjustTimestamps
class	mp2p_icp_filters::FilterBase
class	mp2p_icp_filters::FilterBoundingBox
class	mp2p_icp_filters::FilterByIntensity
class	mp2p_icp_filters::FilterByRange
class	mp2p_icp_filters::FilterByRing
class	mp2p_icp_filters::FilterCurvature
class	mp2p_icp_filters::FilterDecimateAdaptive
class	mp2p_icp_filters::FilterDecimateVoxels
class	mp2p_icp_filters::FilterDecimateVoxelsQuadratic
class	mp2p_icp_filters::FilterDeleteLayer
class	mp2p_icp_filters::FilterDeskew
class	mp2p_icp_filters::FilterEdgesPlanes
class	mp2p_icp_filters::FilterMerge
class	mp2p_icp_filters::FilterNormalizeIntensity
class	mp2p_icp_filters::FilterRemoveByVoxelOccupancy
class	mp2p_icp_filters::FilterVoxelSlice
class	mp2p_icp_filters::Generator
class	mp2p_icp_filters::GeneratorEdgesFromCurvature
class	mp2p_icp_filters::GeneratorEdgesFromRangeImage
struct	mp2p_icp_filters::NotImplementedError
class	mp2p_icp_filters::PointCloudToVoxelGrid
class	mp2p_icp_filters::PointCloudToVoxelGridSingle
struct	mp2p_icp_filters::sm2mm_options_t
	Options for simplemap_to_metricmap() More...

Typedefs
using	mp2p_icp_filters::FilterPipeline = std::vector< FilterBase::Ptr >
using	mp2p_icp_filters::GeneratorSet = std::vector< Generator::Ptr >

Enumerations
enum	mp2p_icp_filters::DecimateMethod : uint8_t { mp2p_icp_filters::DecimateMethod::FirstPoint = 0, mp2p_icp_filters::DecimateMethod::ClosestToAverage, mp2p_icp_filters::DecimateMethod::VoxelAverage, mp2p_icp_filters::DecimateMethod::RandomPoint }
enum	mp2p_icp_filters::TimestampAdjustMethod : uint8_t { mp2p_icp_filters::TimestampAdjustMethod::EarliestIsZero = 0, mp2p_icp_filters::TimestampAdjustMethod::MiddleIsZero, mp2p_icp_filters::TimestampAdjustMethod::Normalize }

Functions
void	mp2p_icp_filters::apply_filter_pipeline (const FilterPipeline &filters, mp2p_icp::metric_map_t &inOut, const mrpt::optional_ref< mrpt::system::CTimeLogger > &profiler=std::nullopt)
mp2p_icp::metric_map_t	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CObservation &obs, const std::optional< mrpt::poses::CPose3D > &robotPose=std::nullopt)
bool	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CObservation &obs, mp2p_icp::metric_map_t &output, const std::optional< mrpt::poses::CPose3D > &robotPose=std::nullopt)
mp2p_icp::metric_map_t	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CSensoryFrame &sf, const std::optional< mrpt::poses::CPose3D > &robotPose=std::nullopt)
bool	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CSensoryFrame &sf, mp2p_icp::metric_map_t &output, const std::optional< mrpt::poses::CPose3D > &robotPose=std::nullopt)
FilterPipeline	mp2p_icp_filters::filter_pipeline_from_yaml (const mrpt::containers::yaml &c, const mrpt::system::VerbosityLevel &vLevel=mrpt::system::LVL_INFO)
FilterPipeline	mp2p_icp_filters::filter_pipeline_from_yaml_file (const std::string &filename, const mrpt::system::VerbosityLevel &vLevel=mrpt::system::LVL_INFO)
GeneratorSet	mp2p_icp_filters::generators_from_yaml (const mrpt::containers::yaml &c, const mrpt::system::VerbosityLevel &vLevel=mrpt::system::LVL_INFO)
GeneratorSet	mp2p_icp_filters::generators_from_yaml_file (const std::string &filename, const mrpt::system::VerbosityLevel &vLevel=mrpt::system::LVL_INFO)
mrpt::maps::CPointsMap::Ptr	mp2p_icp_filters::GetOrCreatePointLayer (mp2p_icp::metric_map_t &m, const std::string &layerName, bool allowEmptyName=true, const std::string &classForLayerCreation="mrpt::maps::CSimplePointsMap")
void	mp2p_icp_filters::simplemap_to_metricmap (const mrpt::maps::CSimpleMap &sm, mp2p_icp::metric_map_t &outMap, const mrpt::containers::yaml &pipeline, const sm2mm_options_t &options={})

Detailed Description

LiDAR and point cloud segmentation and filtering algorithms.

Typedef Documentation

FilterPipeline

using mp2p_icp_filters::FilterPipeline = typedef std::vector<FilterBase::Ptr>

A sequence of filters

Definition at line 75 of file FilterBase.h.

GeneratorSet

using mp2p_icp_filters::GeneratorSet = typedef std::vector<Generator::Ptr>

A set of generators

Definition at line 198 of file Generator.h.

Enumeration Type Documentation

DecimateMethod

enum mp2p_icp_filters::DecimateMethod : uint8_t

strong

Enum to select what method to use to pick the downsampled point for each voxel in FilterDecimateVoxels.

Enumerator
FirstPoint	Pick the first point that was put int the voxel
ClosestToAverage	Closest to the average of all voxel points
VoxelAverage	Average of all voxel points
RandomPoint	Pick one of the voxel points at random

Definition at line 29 of file FilterDecimateVoxels.h.

TimestampAdjustMethod

enum mp2p_icp_filters::TimestampAdjustMethod : uint8_t

strong

Enum to select the pointcloud timestamp normalization criterion in FilterAdjustTimestamps

Enumerator
EarliestIsZero	Adjust such as the earliest timestamp is 0, wih succesive ones representing real ellapsed seconds.
MiddleIsZero	Adjust such as the middle timestamp is 0, with the rest being positive and negative ellapsed seconds.
Normalize	Normalize all timestamps such as they are in the range [0,1]

Definition at line 26 of file FilterAdjustTimestamps.h.

Function Documentation

apply_filter_pipeline()

void mp2p_icp_filters::apply_filter_pipeline	(	const FilterPipeline &	filters,
		mp2p_icp::metric_map_t &	inOut,
		const mrpt::optional_ref< mrpt::system::CTimeLogger > &	profiler = std::nullopt
	)

Applies a pipeline of filters to a given metric_map_t

Definition at line 25 of file FilterBase.cpp.

apply_generators() [1/4]

mp2p_icp::metric_map_t mp2p_icp_filters::apply_generators	(	const GeneratorSet &	generators,
		const mrpt::obs::CObservation &	obs,
		const std::optional< mrpt::poses::CPose3D > &	robotPose = std::nullopt
	)

Definition at line 271 of file Generator.cpp.

apply_generators() [2/4]

bool mp2p_icp_filters::apply_generators	(	const GeneratorSet &	generators,
		const mrpt::obs::CObservation &	obs,
		mp2p_icp::metric_map_t &	output,
		const std::optional< mrpt::poses::CPose3D > &	robotPose = std::nullopt
	)

Applies a set of generators to a given input raw observation(s) and generates a metric_map_t.

Note

The former contents on the output metric_map_t object are untouched, so calling this function several times can be used to accumulate point cloud elements from different sensors.

Returns

true if any of the generators actually processed "obs"

Definition at line 255 of file Generator.cpp.

apply_generators() [3/4]

mp2p_icp::metric_map_t mp2p_icp_filters::apply_generators	(	const GeneratorSet &	generators,
		const mrpt::obs::CSensoryFrame &	sf,
		const std::optional< mrpt::poses::CPose3D > &	robotPose = std::nullopt
	)

Definition at line 280 of file Generator.cpp.

apply_generators() [4/4]

bool mp2p_icp_filters::apply_generators	(	const GeneratorSet &	generators,
		const mrpt::obs::CSensoryFrame &	sf,
		mp2p_icp::metric_map_t &	output,
		const std::optional< mrpt::poses::CPose3D > &	robotPose = std::nullopt
	)

Definition at line 289 of file Generator.cpp.

filter_pipeline_from_yaml()

FilterPipeline mp2p_icp_filters::filter_pipeline_from_yaml	(	const mrpt::containers::yaml &	c,
		const mrpt::system::VerbosityLevel &	vLevel = mrpt::system::LVL_INFO
	)

Creates a pipeline of filters from a YAML configuration block (a sequence). Refer to YAML file examples. Returns an empty pipeline for an empty or null yaml node. Returned filters are already initialize()'d.

Definition at line 40 of file FilterBase.cpp.

filter_pipeline_from_yaml_file()

FilterPipeline mp2p_icp_filters::filter_pipeline_from_yaml_file	(	const std::string &	filename,
		const mrpt::system::VerbosityLevel &	vLevel = mrpt::system::LVL_INFO
	)

Definition at line 72 of file FilterBase.cpp.

generators_from_yaml()

GeneratorSet mp2p_icp_filters::generators_from_yaml	(	const mrpt::containers::yaml &	c,
		const mrpt::system::VerbosityLevel &	vLevel = mrpt::system::LVL_INFO
	)

Creates a set of generators from a YAML configuration block (a sequence). Returns an empty generators set for an empty or null yaml node. Refer to YAML file examples. Returned generators are already initialize()'d.

Definition at line 310 of file Generator.cpp.

generators_from_yaml_file()

GeneratorSet mp2p_icp_filters::generators_from_yaml_file	(	const std::string &	filename,
		const mrpt::system::VerbosityLevel &	vLevel = mrpt::system::LVL_INFO
	)

Definition at line 342 of file Generator.cpp.

GetOrCreatePointLayer()

mrpt::maps::CPointsMap::Ptr mp2p_icp_filters::GetOrCreatePointLayer	(	mp2p_icp::metric_map_t &	m,
		const std::string &	layerName,
		bool	allowEmptyName = true,
		const std::string &	classForLayerCreation = "mrpt::maps::CSimplePointsMap"
	)

Definition at line 15 of file GetOrCreatePointLayer.cpp.

simplemap_to_metricmap()

void mp2p_icp_filters::simplemap_to_metricmap	(	const mrpt::maps::CSimpleMap &	sm,
		mp2p_icp::metric_map_t &	outMap,
		const mrpt::containers::yaml &	pipeline,
		const sm2mm_options_t &	options = {}
	)

Utility function to build metric maps ("*.mm") from raw observations as a simple map ("*.sm"). For a ready-to-use CLI application exposing this function, as well as documentation on the meaning of each argument, see sm2mm.

The former constents of outMap are cleared.

Definition at line 23 of file sm2mm.cpp.