Generator new param 'filterOutPointsAtZero', set to true in demo pipelines

Author: jlblancoc

demos/sm2mm_bonxai_voxelmap.yaml

@@ -43,6 +43,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: ".*"
       #process_sensor_labels_regex: '.*'
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_bonxai_voxelmap_gridmap.yaml

@@ -43,6 +43,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: ".*"
       #process_sensor_labels_regex: '.*'
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_bonxai_voxelmap_gridmap_no_deskew.yaml

@@ -43,6 +43,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: ".*"
       #process_sensor_labels_regex: '.*'
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_no_decim_imu.yaml

@@ -13,9 +13,10 @@
 # --------------------------------------------------------
 # 1) Generator (observation -> local frame metric maps)
 # --------------------------------------------------------
-#generators:
-#  - class_name: mp2p_icp_filters::Generator
-#    params: ~
+generators:
+  - class_name: mp2p_icp_filters::Generator
+    params:
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_no_decim_imu_mls.yaml

@@ -17,6 +17,7 @@ generators:
   - class_name: mp2p_icp_filters::Generator
     params:
       generate_view_vector: true # Generate "view" vectors for advanced normals handling (Default=true)
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_no_decim_imu_mls_keyframe_map.yaml

@@ -18,6 +18,7 @@ generators:
   - class_name: mp2p_icp_filters::Generator
     params:
       name: "generator_default"
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
   # This one will just create the layer "localmap", expected by the GICP LIO algorithm for localization
   - class_name: mp2p_icp_filters::Generator

demos/sm2mm_pointcloud_voxelize.yaml

@@ -13,9 +13,10 @@
 # --------------------------------------------------------
 # 1) Generator (observation -> local frame metric maps)
 # --------------------------------------------------------
-#generators:
-#  - class_name: mp2p_icp_filters::Generator
-#    params: ~
+generators:
+  - class_name: mp2p_icp_filters::Generator
+    params:
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_pointcloud_voxelize_no_deskew.yaml

@@ -13,9 +13,10 @@
 # --------------------------------------------------------
 # 1) Generator (observation -> local frame metric maps)
 # --------------------------------------------------------
-#generators:
-#  - class_name: mp2p_icp_filters::Generator
-#    params: ~
+generators:
+  - class_name: mp2p_icp_filters::Generator
+    params:
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
 
 # --------------------------------------------------------
 # 2) Per local frame filtering

demos/sm2mm_voxels_static_dynamic_points.yaml

@@ -69,6 +69,7 @@ generators:
       throw_on_unhandled_observation_class: true
       process_class_names_regex: "(mrpt::obs::CObservationPointCloud|mrpt::obs::CObservation3DRangeScan|mrpt::obs::CObservation2DRangeScan)"
       process_sensor_labels_regex: ".*"
+      filterOutPointsAtZero: true # Remove invalid points in 'organized' LiDAR scans
       metric_map_definition:
         # Any class derived from mrpt::maps::CMetricMap https://docs.mrpt.org/reference/latest/group_mrpt_maps_grp.html
         class: mrpt::maps::CGenericPointsMap

mp2p_icp_filters/include/mp2p_icp_filters/Generator.h

@@ -169,6 +169,12 @@ class Generator : public mrpt::rtti::CObject,  // RTTI support
          */
         std::string default_pointcloud_class = "mrpt::maps::CGenericPointsMap";
 
+        /** When processing mrpt::obs::CObservationPointCloud as inputs, this controls whether
+         *  points with (x,y,z)=(0,0,0) should be discarded as invalid ones; e.g. typical in
+         *  organized clouds from LiDAR sensors.
+         */
+        bool filterOutPointsAtZero = false;
+
         /** If not empty, it will be used instead of class name in Logger and Profiler.
          *  This is loaded from the `name` key in the YAML configuration block.
          */