struct mp2p_icp_filters::FilterDecimateVoxelsQuadratic::Parameters

Overview

#include <FilterDecimateVoxelsQuadratic.h>

struct Parameters
{
    // fields

    std::string input_pointcloud_layer =             mp2p_icp::metric_map_t::PT_LAYER_RAW;
    bool error_on_missing_input_layer = true;
    std::string output_pointcloud_layer;
    double voxel_filter_resolution = .20;
    double quadratic_reference_radius = 20.0;
    bool use_voxel_average = false;
    bool use_closest_to_voxel_average = false;
    bool use_random_point_within_voxel = false;

    // methods

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

Fields

bool error_on_missing_input_layer = true

Whether to throw an exception if the input layer does not exist, or, otherwise, it should be silently ignored producing an empty output.

std::string output_pointcloud_layer

The output point cloud layer name

double voxel_filter_resolution = .20

Size of each voxel edge [meters]

double quadratic_reference_radius = 20.0

Radius of the non-linear quadratic coordinates mapping [meters]

bool use_voxel_average = false

If enabled, the mean of each voxel is taken instead of any of the original points.

bool use_closest_to_voxel_average = false

If enabled, the actual data point closest to the mean of each voxel is taken as representative for each voxel.

bool use_random_point_within_voxel = false

If false (default), the first point in each voxel will be returned as voxel representative. Otherwise, one picked at random.