63 const std::string& section)
override;
66 const std::string& section)
const override;
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
int previous_keyframes
(Default: 1) How many previous keyframes will be compared with the latest pointcloud.
mrpt::poses::CPose3D pose
mrpt::vision::TStereoCalibParams params
double max_deletion_ratio
(Default: 0.4) If the ratio [0,1] of points considered invalid ("deletion") is larger than this ratio...
mrpt::Clock::time_point TTimeStamp
A system independent time type, it holds the the number of 100-nanosecond intervals since January 1...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors...
This class allows loading and storing values and vectors of different types from a configuration text...
mrpt::maps::CSimplePointsMap::Ptr pc
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Implementation of pointcloud filtering based on requisities for minimum neigbouring points in both...
double angle_tolerance
(Default: 2 deg) Stored in rad.
double min_dist
(Default: 0.05 m)
double too_old_seconds
(Default: 1 s)
void filter(mrpt::maps::CPointsMap *inout_pointcloud, const mrpt::system::TTimeStamp pc_timestamp, const mrpt::poses::CPose3D &pc_reference_pose, TExtraFilterParams *params=nullptr) override
Apply the filtering algorithm to the pointcloud.
Virtual base class for all point-cloud filtering algorithm.
void saveToConfigFile(mrpt::config::CConfigFileBase &c, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
std::map< mrpt::system::TTimeStamp, FrameInfo > m_last_frames