MRPT  1.9.9
mrpt::maps::CPointCloudFilterBase Class Referenceabstract

Detailed Description

Virtual base class for all point-cloud filtering algorithm.

See derived classes for implementations.

See also
CPointsMap

Definition at line 33 of file CPointCloudFilterBase.h.

#include <mrpt/maps/CPointCloudFilterBase.h>

Inheritance diagram for mrpt::maps::CPointCloudFilterBase:

Classes

struct  TExtraFilterParams
 

Public Types

using Ptr = std::shared_ptr< CPointCloudFilterBase >
 

Public Member Functions

 CPointCloudFilterBase ()
 
virtual ~CPointCloudFilterBase ()
 
virtual void filter (mrpt::maps::CPointsMap *inout_pointcloud, const mrpt::system::TTimeStamp pc_timestamp, const mrpt::poses::CPose3D &pc_reference_pose, TExtraFilterParams *params=nullptr)=0
 Apply the filtering algorithm to the pointcloud. More...
 

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ CPointCloudFilterBase()

CPointCloudFilterBase::CPointCloudFilterBase ( )
default

◆ ~CPointCloudFilterBase()

CPointCloudFilterBase::~CPointCloudFilterBase ( )
virtualdefault

Member Function Documentation

◆ filter()

virtual void mrpt::maps::CPointCloudFilterBase::filter ( mrpt::maps::CPointsMap inout_pointcloud,
const mrpt::system::TTimeStamp  pc_timestamp,
const mrpt::poses::CPose3D pc_reference_pose,
TExtraFilterParams params = nullptr 
)
pure 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 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]paramsadditional in/out parameters

Implemented in mrpt::maps::CPointCloudFilterByDistance.




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