class mp2p_icp_filters::FilterNormalizeIntensity

Overview

Normalizes the intensity channel of a point cloud layer, such as intensity values end up in the range [0,1].

No new layer is created, data is directly updated in the same input/output layer.

If the parameter remember_intensity_range is true (default= false), the filter object will have “memory” and remember the minimum and maximum intensities observed in past clouds. Otherwise, each cloud will have its own extreme values so they will be always normalized to [0, 1].

Alternatively, you can manually specify the maximum intensity value that will be mapped to “1”.

#include <FilterNormalizeIntensity.h>

class FilterNormalizeIntensity: 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.