BipedalLocomotion::Perception::Features::PCLProcessorParameters struct

#include <BipedalLocomotion/Perception/Features/PointCloudProcessor.h>

Public variables

std::array<double, 3> voxelSizeDownsampling

voxel grid leaf size (x, y , z) in meters for downsampling based on centroid of all the points

int nrPointsForOutlierEstimation

number of neighboring points to analyze for statistical outlier removal filter

double multiplierForOutlierStdDev

multiplier for standard deviation (k-sigma) from the mean distance of neighboring points to the query point for statistical outlier removal.

double spatialClusterTolerance

spatial distance in meters to consider the Euclidean clustering of points (L2 euclidean norm)

int minNrPointsInCluster

minimum number of points required to detect a cluster

int maxNrPointsInCluster

maximum number of points allowed in a detected cluster

Variable documentation