class mp2p_icp_filters::FilterPolygon2D

Overview

Split a point cloud into those points inside and outside an arbitrary 2D polygon, defined in the XY plane. A point is “inside” when its (x, y) projection lies within the polygon and its z coordinate is within the (optional) range [z_min, z_max].

Optionally, you can keep only one of those two clouds by leaving the unused one undefined in your YAML file (or as an empty string).

Unlike FilterBoundingBox, the cropping region is a general (possibly non-convex) polygon, which is useful to match footprints that are not axis-aligned rectangles.

Example YAML configuration block:

- class_name: mp2p_icp_filters::FilterPolygon2D
  params:
    input_pointcloud_layer: 'raw'
    # Keep at least one of these two output layers:
    inside_pointcloud_layer: 'inside'
    outside_pointcloud_layer: 'outside'
    # The polygon vertices, in the XY plane (map frame):
    polygon: [[0.0, 0.0], [10.0, 0.0], [10.0, 5.0], [0.0, 5.0]]
    # Optional Z crop (defaults to +/- infinity):
    z_min: 0.3
    z_max: 2.0

#include <FilterPolygon2D.h>

class FilterPolygon2D: public mp2p_icp_filters::FilterBase
{
public:
    // structs

    struct Parameters;

    // fields

    Parameters params;

    // methods

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

Inherited Members

public:
    // methods

    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.