struct mp2p_icp_filters::FilterDecimateVoxels::Parameters


#include <FilterDecimateVoxels.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;
    bool use_voxel_average = false;
    mrpt::math::TBoundingBoxf bounding_box = {             {-10.0f, -10.0f, -5.0f}, {10.0f, 10.0f, 5.0f}};

    // methods

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

Detailed Documentation


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]

bool use_voxel_average = false

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

mrpt::math::TBoundingBoxf bounding_box = {             {-10.0f, -10.0f, -5.0f}, {10.0f, 10.0f, 5.0f}}

YAML loading format:

bounding_box_min: [-10, -10, -5]
bounding_box_max: [ 10,  10,  5]