Detailed Description
Implementation of pointcloud filtering based on requisities for minimum neigbouring points in both, the current timestamp and a previous one.
- See also
- CPointsMap
Definition at line 29 of file CPointCloudFilterByDistance.h.
#include <mrpt/maps/CPointCloudFilterByDistance.h>
Classes | |
| struct | FrameInfo |
| struct | TOptions |
Public Member Functions | |
| void | filter (mrpt::maps::CPointsMap *inout_pointcloud, const mrpt::system::TTimeStamp pc_timestamp, const mrpt::poses::CPose3D &pc_reference_pose, TExtraFilterParams *params=nullptr) MRPT_OVERRIDE |
| Apply the filtering algorithm to the pointcloud. More... | |
Public Attributes | |
| TOptions | options |
Private Attributes | |
| mrpt::aligned_containers< mrpt::system::TTimeStamp, FrameInfo >::map_t | m_last_frames |
Member Function Documentation
◆ filter()
|
virtual |
Apply the filtering algorithm to the pointcloud.
- Parameters
-
[in,out] inout_pointcloud The input pointcloud, which will be modified upon return after filtering. [in] pc_timestamp The timestamp of the input pointcloud [in] pc_reference_pose If NULL, the PC is assumed to be given in global coordinates. Otherwise, it will be transformed from local coordinates to global using this transformation. [in,out] params additional in/out parameters
Implements mrpt::maps::CPointCloudFilterBase.
Definition at line 19 of file CPointCloudFilterByDistance.cpp.
References mrpt::maps::CPointsMap::applyDeletionMask(), ASSERT_, mrpt::maps::CSimplePointsMap::Create(), mrpt::maps::CPointsMap::getPointFast(), INVALID_TIMESTAMP, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint3D(), MRPT_END, MRPT_START, mrpt::math::TPoint3D::norm(), mrpt::maps::CPointCloudFilterByDistance::FrameInfo::pc, mrpt::maps::CPointCloudFilterByDistance::FrameInfo::pose, mrpt::maps::CPointsMap::size(), mrpt::math::square(), mrpt::mrpt::math::square(), mrpt::system::timeDifference(), mrpt::math::TPoint3Df::x, mrpt::math::TPoint3Df::y, and mrpt::math::TPoint3Df::z.
Referenced by run_pc_filter_test().
Member Data Documentation
◆ m_last_frames
|
private |
Definition at line 64 of file CPointCloudFilterByDistance.h.
◆ options
| TOptions mrpt::maps::CPointCloudFilterByDistance::options |
Definition at line 53 of file CPointCloudFilterByDistance.h.