struct mp2p_icp_filters::FilterPolygon2D::Parameters

Overview

#include <FilterPolygon2D.h>

struct Parameters
{
    // fields

    std::string input_pointcloud_layer = mp2p_icp::metric_map_t::PT_LAYER_RAW;
    std::string inside_pointcloud_layer;
    std::string outside_pointcloud_layer;
    mrpt::math::TPolygon2D polygon;
    double z_min = -std::numeric_limits<double>::infinity();
    double z_max = std::numeric_limits<double>::infinity();

    // methods

    void load_from_yaml(
        const mrpt::containers::yaml& c,
        FilterPolygon2D& parent
        );
};

Fields

std::string inside_pointcloud_layer

The output point cloud layer name for points INSIDE the polygon

std::string outside_pointcloud_layer

The output point cloud layer name for points OUTSIDE the polygon

mrpt::math::TPolygon2D polygon

Polygon vertices in the XY plane (map frame). At least 3 are required.

double z_min = -std::numeric_limits<double>::infinity()

Z range kept for points inside the polygon footprint. Defaults keep all heights.