struct mp2p_icp_filters::FilterDecimateAdaptive::Parameters

Overview

#include <FilterDecimateAdaptive.h>

struct Parameters
{
    // fields

    std::string input_pointcloud_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW;
    std::vector<OutputTarget> outputs;
    unsigned int minimum_input_points_per_voxel = 1;
    float voxel_size = 0.10;
    DecimateMethod decimate_method = DecimateMethod::FirstPoint;
    size_t parallelization_grain_size = 16UL* 1024UL;

    // methods

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

Fields

std::vector<OutputTarget> outputs

The requested output layers. Loaded either from the YAML sequence “outputs”, or from the single-output keys “output_pointcloud_layer” and “desired_output_point_count”.

unsigned int minimum_input_points_per_voxel = 1

Voxels with less points will not generate anything at the output layer

float voxel_size = 0.10

Dynamic parameter: may be given as a formula.

DecimateMethod decimate_method = DecimateMethod::FirstPoint

The method to pick what point will be used as representative of each voxel. See notes on top of this class.

size_t parallelization_grain_size = 16UL* 1024UL

When TBB is enabled, the grainsize for splitting the input clouds into threads.