mp2p_icp_filters library

2D/3D LiDAR scan segmentation algorithms and utilities. More...

Namespaces
	mp2p_icp_filters

Classes
class	mp2p_icp_filters::FilterBase
class	mp2p_icp_filters::FilterBoundingBox
class	mp2p_icp_filters::FilterDecimateVoxels
class	mp2p_icp_filters::FilterDeleteLayer
class	mp2p_icp_filters::FilterEdgesPlanes
class	mp2p_icp_filters::Generator
struct	mp2p_icp_filters::NotImplementedError
class	mp2p_icp_filters::PointCloudToVoxelGrid

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

Functions
void	mp2p_icp_filters::apply_filter_pipeline (const FilterPipeline &filters, mp2p_icp::metric_map_t &inOut)
mp2p_icp::metric_map_t	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CObservation &obs)
void	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CObservation &obs, mp2p_icp::metric_map_t &output)
mp2p_icp::metric_map_t	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CSensoryFrame &sf)
void	mp2p_icp_filters::apply_generators (const GeneratorSet &generators, const mrpt::obs::CSensoryFrame &sf, mp2p_icp::metric_map_t &output)
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)

Detailed Description

2D/3D LiDAR scan segmentation algorithms and utilities.

Typedef Documentation

FilterPipeline

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

A sequence of filters

Definition at line 61 of file FilterBase.h.

GeneratorSet

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

A set of generators

Definition at line 153 of file Generator.h.

Function Documentation

apply_filter_pipeline()

void mp2p_icp_filters::apply_filter_pipeline	(	const FilterPipeline &	filters,
		mp2p_icp::metric_map_t &	inOut
	)

Applies a pipeline of filters to a given metric_map_t

Definition at line 24 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
	)

Definition at line 221 of file Generator.cpp.

apply_generators() [2/4]

void mp2p_icp_filters::apply_generators	(	const GeneratorSet &	generators,
		const mrpt::obs::CObservation &	obs,
		mp2p_icp::metric_map_t &	output
	)

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.

Definition at line 209 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
	)

Definition at line 229 of file Generator.cpp.

apply_generators() [4/4]

void mp2p_icp_filters::apply_generators	(	const GeneratorSet &	generators,
		const mrpt::obs::CSensoryFrame &	sf,
		mp2p_icp::metric_map_t &	output
	)

Definition at line 237 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 34 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 66 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 253 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 285 of file Generator.cpp.