class mp2p_icp_filters::FilterBoundingBox

Overview

Split a point cloud into those points inside and outside a given bounding box. Optionally, you can only keep one of those two clouds, by leaving the non-used one undefined in your YAML file (or as an empty string).

Bounding box coordinates can contain the variables robot_x, robot_y, robot_z for usage of robocentric coordinates if used for simplemap filtering as part of a pipeline for the sm2mm application.

#include <FilterBoundingBox.h>

class FilterBoundingBox: public mp2p_icp_filters::FilterBase
{
public:
    // structs

    struct Parameters;

    // fields

    Parameters params_;

    // methods

    virtual void initialize(const mrpt::containers::yaml& cfg_block);
    virtual void filter(mp2p_icp::metric_map_t& inOut) const;
};

Inherited Members

public:
    // methods

    virtual void initialize(const mrpt::containers::yaml& cfg_block) = 0;
    virtual void filter(mp2p_icp::metric_map_t& inOut) const = 0;

Fields

Parameters params_

Algorithm parameters

Methods

virtual void initialize(const mrpt::containers::yaml& cfg_block)

Loads, from a YAML configuration block, all the common, and implementation-specific parameters.

virtual void filter(mp2p_icp::metric_map_t& inOut) const

See docs above for FilterBase.