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mrpt::maps::CPointCloudFilterByDistance Class Reference

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>

Inheritance diagram for mrpt::maps::CPointCloudFilterByDistance:
Inheritance graph

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()

void CPointCloudFilterByDistance::filter ( mrpt::maps::CPointsMap inout_pointcloud,
const mrpt::system::TTimeStamp  pc_timestamp,
const mrpt::poses::CPose3D pc_reference_pose,
TExtraFilterParams params = nullptr 
)
virtual

Apply the filtering algorithm to the pointcloud.

Parameters
[in,out]inout_pointcloudThe input pointcloud, which will be modified upon return after filtering.
[in]pc_timestampThe timestamp of the input pointcloud
[in]pc_reference_poseIf 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]paramsadditional 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

mrpt::aligned_containers<mrpt::system::TTimeStamp, FrameInfo>::map_t mrpt::maps::CPointCloudFilterByDistance::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.




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