struct mrpt::maps::CPointCloudFilterByDistance::TOptions¶

#include <mrpt/maps/CPointCloudFilterByDistance.h>

struct TOptions: public mrpt::config::CLoadableOptions
{
    //
fields

    double min_dist {0.10};
    double angle_tolerance;
    double too_old_seconds {1.0};
    int previous_keyframes {1};
    double max_deletion_ratio {.4};

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields¶

double min_dist {0.10}

(Default: 0.05 m)

double angle_tolerance

(Default: 2 deg) Stored in rad.

double too_old_seconds {1.0}

(Default: 1 s)

int previous_keyframes {1}

(Default: 1) How many previous keyframes will be compared with the latest pointcloud.

double max_deletion_ratio {.4}

(Default: 0.4) If the ratio [0,1] of points considered invalid (“deletion”) is larger than this ratio, no point will be deleted since it’d be too suspicious and may indicate a failure of this filter.

Methods¶

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini”-like file or memory-stored string list.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...