enum mp2p_icp_filters::DecimateMethod

Overview

Enum to select what method to use to pick the downsampled point for each voxel, in FilterDecimateVoxels and FilterDecimateAdaptive. More…

#include <DecimateMethod.h>

enum DecimateMethod
{
    FirstPoint       = 0,
    RotatingIndex,
    ClosestToAverage,
    VoxelAverage,
    RandomPoint,
};

Detailed Documentation

Enum to select what method to use to pick the downsampled point for each voxel, in FilterDecimateVoxels and FilterDecimateAdaptive.

Enum Values

FirstPoint

Pick the first point that was put int the voxel

RotatingIndex

Pick the k-th point of a voxel, with k rotating from one voxel to the next, so that whatever the sensor’s scan order does to the choice is spread over the voxels instead of displacing all of them alike. k comes from the voxel’s own integer coordinates, so the result does not depend on traversal order, on the number of threads, or on the underlying map type.

ClosestToAverage

Closest to the average of all voxel points

VoxelAverage

Average of all voxel points

RandomPoint

Pick one of the voxel points at random