class mp2p_icp_filters::FilterEdgesPlanes

Overview

Accepts as input a point cloud, and classifies points into edges and planes.

Based on the LOAM paper (Zhang, Ji, and Sanjiv Singh. “LOAM: Lidar odometry and mapping in real-time.” Robotics: Science and systems. Vol. 2. No. 9. 2014.).

Not compatible with calling from different threads simultaneously for different input point clouds. Use independent instances for each thread if needed.

#include <FilterEdgesPlanes.h>

class FilterEdgesPlanes: 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.