struct mola::NDT::TInsertionOptions

Overview

Options for insertObservation()

#include <NDT.h>

struct TInsertionOptions: public mrpt::config::CLoadableOptions
{
    // fields

    uint32_t max_points_per_voxel = 0;
    double remove_voxels_farther_than = .0;
    float min_distance_between_points = .0f;
    double max_eigen_ratio_for_planes = 0.01;

    // methods

    void loadFromConfigFile(
        const mrpt::config::CConfigFileBase& source,
        const std::string& section
        );

    void dumpToTextStream(std::ostream& out) const;
    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);
};

Fields

uint32_t max_points_per_voxel = 0

Maximum number of points per voxel. 0 means no limit further than the hard compile-time limit.

double remove_voxels_farther_than = .0

If !=0, remove the voxels farther (L1 distance) than this distance, in meters.

float min_distance_between_points = .0f

If !=0 skip the insertion of points that are closer than this distance to any other already in the voxel.