class mp2p_icp_filters::FilterInsertPoint

Overview

Appends one point to a point cloud layer, creating it if it does not exist.

The coordinates may be formulas of the pipeline variables, e.g. to collect the keyframe positions while building a map with sm2mm (its filters run once per handled observation, so this is one point per keyframe if only one sensor is processed):

- class_name: mp2p_icp_filters::FilterInsertPoint
  params:
    target_layer: "trajectory"
    point: [robot_x, robot_y, robot_z]

#include <FilterInsertPoint.h>

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

    struct Parameters;

    // fields

    Parameters params;

    // methods

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

Inherited Members

public:
    // methods

    Parameterizable& operator = (const Parameterizable&);
    Parameterizable& operator = (Parameterizable&&);
    virtual void filter(mp2p_icp::metric_map_t& inOut) const = 0;
    FilterBase& operator = (const FilterBase&);
    FilterBase& operator = (FilterBase&&);

Fields

Parameters params

Algorithm parameters

Methods

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

See docs above for FilterBase.