struct mp2p_icp_filters::FilterCurvature::Parameters

Overview

#include <FilterCurvature.h>

struct Parameters
{
    // fields

    std::string input_pointcloud_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW;
    std::string output_layer_larger_curvature;
    std::string output_layer_smaller_curvature;
    std::string output_layer_other;
    float max_cosine = 0.5f;
    float min_clearance = 0.02f;
    float max_gap = 1.00f;

    // methods

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

Fields

std::string output_layer_larger_curvature

If non-empty, points with larger curvature (“edges”) will be stored here.

std::string output_layer_smaller_curvature

If non-empty, points with smaller curvature (“flatter”) will be stored here.

std::string output_layer_other

If non-empty, points that do no fall in any of the two categories are stored here.

float max_cosine = 0.5f

These three accept dynamic formulas, e.g. “0.02*ESTIMATED_OBSERVATION_RADIUS”.

float min_clearance = 0.02f

[meters]

float max_gap = 1.00f

[meters]