Struct NDT::TInsertionOptions

Defined in File NDT.h

Nested Relationships

This struct is a nested type of Class NDT.

Inheritance Relationships

Base Type

public mrpt::config::CLoadableOptions

Struct Documentation

struct TInsertionOptions : public mrpt::config::CLoadableOptions

Options for insertObservation()

Public Functions

TInsertionOptions() = default

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

void dumpToTextStream(std::ostream &out) const override

void writeToStream(mrpt::serialization::CArchive &out) const

void readFromStream(mrpt::serialization::CArchive &in)

Public Members

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.

double max_eigen_ratio_for_planes = 0.01