class mp2p_icp_filters::FilterVoxelSOR

Overview

Voxel-based Statistical Outlier Removal (SOR) filter.

This filter partitions the point cloud into voxels. Inside each voxel, it computes the average distance of each point to its k-nearest neighbors. Points are considered outliers if their average distance is significantly higher than the mean of the distances within that specific voxel.

This is much faster than global SOR for large clouds as the KD-tree searches are localized and restricted to a small subset of points.

When TBB is available, voxel processing is automatically parallelized for improved performance on multi-core systems.

#include <FilterVoxelSOR.h>

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

    struct Parameters;

    // fields

    Parameters params;

    // methods

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

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.