#include <Filters.hpp>
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| static void | filterMinDistance (base::samples::DepthMap &laser_scan, float min_range) |
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| static void | filterOutliers (base::samples::DepthMap &laser_scan, double max_deviation_angle, unsigned min_neighbors=1) |
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| static unsigned | checkPoints (const Eigen::Vector3f &origin, const Eigen::Vector3f &neighbor, double max_angle) |
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| unsigned Filters::checkPoints |
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const Eigen::Vector3f & |
origin, |
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const Eigen::Vector3f & |
neighbor, |
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double |
max_angle |
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) |
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staticprotected |
Computes the angle between the plain described by the unit vector of the origin and the vector from the origin to neighbor. If the angle is smaller or equal to max_angle returns 1, 0 otherwiese.
| void Filters::filterMinDistance |
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base::samples::DepthMap & |
laser_scan, |
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float |
min_range |
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) |
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static |
This method filters outliers according to a given minimum distance from the scan origin.
- Parameters
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| laser_scan | input scan |
| min_range | min range each measurement must have |
| void Filters::filterOutliers |
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base::samples::DepthMap & |
laser_scan, |
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double |
max_deviation_angle, |
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unsigned |
min_neighbors = 1 |
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) |
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static |
This method filters outliers according to the maximum angle to each of their four direct neighbors. It aims to remove outliers which occure separated and therefore have high angles to their next neighbors. The angle is allways from the plain described by the unit vector of the current measurement and the vector from the current measurement to the neighbor measurement.
- Parameters
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| laser_scan | input scan |
| max_deviation_angle | the angle to a valid neighbor must be lower than this angle. Values in range [0,0.5*PI] |
| min_neighbors | minimum number of valid neighbors each measurement should have |
The documentation for this class was generated from the following files:
- /build/rock-master-18.09-perception-depth-map-preprocessing-0.20170919/src/Filters.hpp
- /build/rock-master-18.09-perception-depth-map-preprocessing-0.20170919/src/Filters.cpp
