struct mola::SparseTreesPointCloud::TInsertionOptions

Overview

Options for insertObservation()

#include <SparseTreesPointCloud.h>

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

    float minimum_points_clearance = 0.20f;
    float remove_submaps_farther_than = .0f;

    // 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

float minimum_points_clearance = 0.20f

Minimum distance between an inserted point and the existing ones in the map for it to be actually inserted.

float remove_submaps_farther_than = .0f

If !=0, remove the submap blocks farther (L1 distance) than this distance [meters]