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.