struct mola::KeyframePointCloudMap::RegroupParams

Overview

Parameters for regroupKeyframes().

#include <KeyframePointCloudMap.h>

struct RegroupParams
{
    // fields

    double voxel_size = 0;
    double edge_overlap = 0.75;
    double core_fraction = 0.85;
    double extent_factor = 2.0;
    double merge_decimate_voxel = 0;
};

Fields

double voxel_size = 0

Voxel resolution [m] used to compute pairwise cloud overlaps. If <=0, it is auto-derived from the median per-keyframe sensing radius.

double edge_overlap = 0.75

Minimum pairwise voxel-overlap (Jaccard-min, in [0,1]) required to create an edge in the keyframe adjacency graph, i.e. for two keyframes to be candidates for merging into the same super-keyframe.

double core_fraction = 0.85

Inner-core fraction, in (0,1], of a super-keyframe’s spatial extent. A member keyframe whose center lies within core_fraction * extent of the seed is marked “covered” (deep inside, single-KF localization is reliable there). Members in the outer band stay available to seed/join neighboring super-keyframes, which is what produces the deliberate inter-group overlap. The outer (overlap) band is (1 - core_fraction) of the extent, so the default of 0.85 yields ~15% overlap between neighboring super-keyframes.

double extent_factor = 2.0

Spatial extent cap of a super-keyframe, as a multiple of the seed keyframe’s own sensing radius (half its cloud bounding-box diagonal). This auto-sizes groups non-uniformly: large outdoors (long range), small indoors.

double merge_decimate_voxel = 0

If >0, voxel-downsample each merged super-keyframe cloud at this resolution [m] to bound the point-count blow-up from the deliberate overlap. This is strongly recommended for large maps. Per-point view-direction fields, when present, are carried over (first point kept per voxel).