Remove Overlapped Trajectory Points

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Function Description

This step removes overlapped points that are too close in a trajectory, reducing invalid points and optimizing point distribution.

Usage Scenario

This step is suitable for scenarios with overlapped trajectory points, reducing redundant points to improve processing efficiency.

Input and Output

Input

Input Port Data Type Description

Reference Trajectory

Pose[]

Used to compare with the trajectory to be processed.

Trajectory

Pose[]

The trajectory entered at this port is compared with the reference trajectory, and points overlapped with the reference trajectory are removed.

Output

Output Port Data Type Description

Deduplicated Trajectory

Pose[]

Deduplicated trajectory.

Parameter Description

Parameter Description

Search Radius

Description: This parameter is used to determine whether trajectory points are duplicated. If the distance between adjacent points is less than this value, points are considered duplicates and removed.

Default value: 5.00 mm

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