mp2p_icp_filters library¶
Overview¶
2D/3D LiDAR scan segmentation algorithms and utilities. More…
// namespaces namespace mp2p_icp_filters; // typedefs typedef std::vector<FilterBase::Ptr> mp2p_icp_filters::FilterPipeline; typedef std::vector<Generator::Ptr> mp2p_icp_filters::GeneratorSet; // structs struct mp2p_icp_filters::NotImplementedError; // classes class mp2p_icp_filters::FilterBase; class mp2p_icp_filters::FilterBoundingBox; class mp2p_icp_filters::FilterDecimateVoxels; class mp2p_icp_filters::FilterDeleteLayer; class mp2p_icp_filters::FilterEdgesPlanes; class mp2p_icp_filters::Generator; class mp2p_icp_filters::PointCloudToVoxelGrid; // global functions void mp2p_icp_filters::apply_filter_pipeline(const FilterPipeline& filters, mp2p_icp::metric_map_t& inOut); FilterPipeline mp2p_icp_filters::filter_pipeline_from_yaml( const mrpt::containers::yaml& c, const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO ); FilterPipeline mp2p_icp_filters::filter_pipeline_from_yaml_file( const std::string& filename, const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO ); void mp2p_icp_filters::apply_generators(const GeneratorSet& generators, const mrpt::obs::CObservation& obs, mp2p_icp::metric_map_t& output); mp2p_icp::metric_map_t mp2p_icp_filters::apply_generators( const GeneratorSet& generators, const mrpt::obs::CObservation& obs ); void mp2p_icp_filters::apply_generators( const GeneratorSet& generators, const mrpt::obs::CSensoryFrame& sf, mp2p_icp::metric_map_t& output ); mp2p_icp::metric_map_t mp2p_icp_filters::apply_generators( const GeneratorSet& generators, const mrpt::obs::CSensoryFrame& sf ); GeneratorSet mp2p_icp_filters::generators_from_yaml( const mrpt::containers::yaml& c, const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO ); GeneratorSet mp2p_icp_filters::generators_from_yaml_file( const std::string& filename, const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO );
Detailed Documentation¶
2D/3D LiDAR scan segmentation algorithms and utilities.
Typedefs¶
typedef std::vector<FilterBase::Ptr> mp2p_icp_filters::FilterPipeline
A sequence of filters
typedef std::vector<Generator::Ptr> mp2p_icp_filters::GeneratorSet
A set of generators
Global Functions¶
void mp2p_icp_filters::apply_filter_pipeline(const FilterPipeline& filters, mp2p_icp::metric_map_t& inOut)
Applies a pipeline of filters to a given metric_map_t
FilterPipeline mp2p_icp_filters::filter_pipeline_from_yaml( const mrpt::containers::yaml& c, const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO )
Creates a pipeline of filters from a YAML configuration block (a sequence). Refer to YAML file examples. Returns an empty pipeline for an empty or null yaml node. Returned filters are already initialize()’d.
void mp2p_icp_filters::apply_generators( const GeneratorSet& generators, const mrpt::obs::CObservation& obs, mp2p_icp::metric_map_t& output )
Applies a set of generators to a given input raw observation(s) and generates a metric_map_t.
The former contents on the output metric_map_t object are untouched, so calling this function several times can be used to accumulate point cloud elements from different sensors.
GeneratorSet mp2p_icp_filters::generators_from_yaml( const mrpt::containers::yaml& c, const mrpt::system::VerbosityLevel& vLevel = mrpt::system::LVL_INFO )
Creates a set of generators from a YAML configuration block (a sequence). Returns an empty generators set for an empty or null yaml node. Refer to YAML file examples. Returned generators are already initialize()’d.