struct mp2p_icp_filters::FilterByRange::Parameters

Overview

#include <FilterByRange.h>

struct Parameters
{
    // fields

    std::string input_pointcloud_layer =             mp2p_icp::metric_map_t::PT_LAYER_RAW;
    std::string output_layer_between;
    std::string output_layer_outside;
    float range_min = 3.0f;
    float range_max = 90.0f;
    mrpt::math::TPoint3Df center = {0, 0, 0};

    // methods

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

Fields

std::string output_layer_between

Optional output point cloud layer name for points within the [min,max] range

std::string output_layer_outside

Optional output point cloud layer name for points outside of the range [min,max]

float range_min = 3.0f

YAML loading format:

range_min: 3.0
range_max: 90.0

mrpt::math::TPoint3Df center = {0, 0, 0}

Ranges are measured from this center point. Can be defined as a function of the robot pose variables, e.g.:

center: [0, 0, 0]
# or:
center: [robot_x, robot_y, robot_z]