struct mp2p_icp_filters::FilterDecimateAdaptive::OutputTarget

Overview

One requested output layer, with its own target point count.

#include <FilterDecimateAdaptive.h>

struct OutputTarget
{
    // fields

    std::string output_pointcloud_layer;
    uint32_t desired_output_point_count = 1000;
    double maximum_voxel_stride = 0;

    // methods

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

Fields

uint32_t desired_output_point_count = 1000

Dynamic parameter: may be given as a formula, e.g. “500 + 15*ESTIMATED_OBSERVATION_RADIUS”.

double maximum_voxel_stride = 0

If non-zero, raises the effective point count for this output until the voxel walk visits one in every maximum_voxel_stride occupied cells at most, that is, until nVoxels/count <= maximum_voxel_stride. See the class docs.

It only ever raises the count, never lowers it, so desired_output_point_count keeps acting as a floor for sparse inputs. Dynamic parameter: may be given as a formula.

Methods

void load_from_yaml(const mrpt::containers::yaml& c, FilterDecimateAdaptive& parent)

Parameters:

parent

The filter the parameters belong to, so dynamic (formula) parameters can be declared on it.