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 26 of file CPointCloudFilterByDistance.h.

#include <mrpt/maps/CPointCloudFilterByDistance.h>

Inheritance diagram for mrpt::maps::CPointCloudFilterByDistance:

Classes
struct	FrameInfo
struct	TOptions

Public Types
using	Ptr = std::shared_ptr< CPointCloudFilterBase >

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) override
	Apply the filtering algorithm to the pointcloud. More...

Public Attributes
TOptions	options

Private Attributes
std::map< mrpt::system::TTimeStamp, FrameInfo >	m_last_frames

Member Typedef Documentation

Ptr

using mrpt::maps::CPointCloudFilterBase::Ptr = std::shared_ptr<CPointCloudFilterBase>

inherited

Definition at line 36 of file CPointCloudFilterBase.h.

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  )

overridevirtual

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 nullptr, 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 18 of file CPointCloudFilterByDistance.cpp.

References mrpt::maps::CPointCloudFilterByDistance::TOptions::angle_tolerance, mrpt::maps::CPointsMap::applyDeletionMask(), ASSERT_, mrpt::maps::CSimplePointsMap::Create(), mrpt::maps::CPointsMap::getPointFast(), INVALID_TIMESTAMP, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint3D(), m_last_frames, mrpt::maps::CPointCloudFilterByDistance::TOptions::max_deletion_ratio, mrpt::maps::CPointCloudFilterByDistance::TOptions::min_dist, MRPT_END, MRPT_START, mrpt::math::TPoint3D_< T >::norm(), options, params, mrpt::maps::CPointCloudFilterByDistance::FrameInfo::pc, mrpt::maps::CPointCloudFilterByDistance::FrameInfo::pose, mrpt::maps::CPointCloudFilterByDistance::TOptions::previous_keyframes, mrpt::maps::CPointsMap::size(), mrpt::square(), mrpt::system::timeDifference(), mrpt::maps::CPointCloudFilterByDistance::TOptions::too_old_seconds, mrpt::math::TPoint3D_data< T >::x, mrpt::math::TPoint3D_data< T >::y, and mrpt::math::TPoint3D_data< T >::z.

Referenced by run_pc_filter_test().

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Member Data Documentation

m_last_frames

std::map<mrpt::system::TTimeStamp, FrameInfo> mrpt::maps::CPointCloudFilterByDistance::m_last_frames

private

Definition at line 78 of file CPointCloudFilterByDistance.h.

Referenced by filter().

options

TOptions mrpt::maps::CPointCloudFilterByDistance::options

Definition at line 69 of file CPointCloudFilterByDistance.h.

Referenced by filter(), and mrpt::nav::CAbstractPTGBasedReactive::saveConfigFile().