Point cloud preprocessing parameters.
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#include <cloud_preprocessor.hpp>
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double | distance_near_thresh |
| | Minimum distance threshold.
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double | distance_far_thresh |
| | Maximum distance threshold.
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bool | global_shutter |
| | Assume all points in a scan are takes at the same moment and replace per-point timestamps with zero (disable deskewing)
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bool | use_random_grid_downsampling |
| | If true, use random grid downsampling, otherwise, use the conventional voxel grid.
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double | downsample_resolution |
| | Downsampling resolution.
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int | downsample_target |
| | Target number of points for downsampling.
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double | downsample_rate |
| | Downsamping rate (used for random grid downsampling)
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bool | enable_outlier_removal |
| | If true, apply statistical outlier removal.
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int | outlier_removal_k |
| | Number of neighbors used for outlier removal.
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double | outlier_std_mul_factor |
| | Statistical outlier removal std dev threshold multiplication factor.
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bool | enable_cropbox_filter |
| | If true, filter points out points within box.
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std::string | crop_bbox_frame |
| | Bounding box reference frame.
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Eigen::Vector3d | crop_bbox_min |
| | Bounding box min point.
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Eigen::Vector3d | crop_bbox_max |
| | Bounding box max point.
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Eigen::Isometry3d | T_imu_lidar |
| | LiDAR-IMU transformation when cropbox is defined in IMU frame.
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int | k_correspondences |
| | Number of neighboring points.
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int | num_threads |
| | Number of threads.
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Point cloud preprocessing parameters.
The documentation for this struct was generated from the following file:
