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::string output_pointcloud_layer;
    unsigned int desired_output_point_count = 1000;
    unsigned int minimum_input_points_per_voxel = 1;
    float voxel_size = 0.10;
    size_t parallelization_grain_size = 16UL* 1024UL;

    // methods

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

Fields

unsigned int minimum_input_points_per_voxel = 1

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

size_t parallelization_grain_size = 16UL* 1024UL

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