struct mp2p_icp_filters::FilterAdjustTimestamps::Parameters

Overview

#include <FilterAdjustTimestamps.h>

struct Parameters
{
    // fields

    std::string pointcloud_layer;
    bool silently_ignore_no_timestamps = false;
    double time_offset = .0;
    TimestampAdjustMethod method = TimestampAdjustMethod::MiddleIsZero;

    // methods

    void load_from_yaml(
        const mrpt::containers::yaml& c,
        FilterAdjustTimestamps& parent
        );
};

Fields

bool silently_ignore_no_timestamps = false

Whether to skip throwing an exception if the input layer does not contain timestamps.

double time_offset = .0

Time offset [s] added to the adjusted timestamps, useful when merging several sensors: set it to this cloud’s timestamp minus the common reference timestamp (e.g. that of the first sensor), so all points end up relative to one reference time. This requires the clouds to share the same earliest (EarliestIsZero) or middle (MiddleIsZero) raw per-point time, e.g. sensors with the same scan rate. With Normalize, the offset is scaled by 1/(scan span) like the timestamps, which are then not elapsed seconds and the reference time is not modified: do not use them for deskewing or FilterAbsoluteTimestamp.

TimestampAdjustMethod method = TimestampAdjustMethod::MiddleIsZero

The criterion to adjust timestamps.