Struct HashedVoxelPointCloud::TInsertionOptions

Nested Relationships

This struct is a nested type of Class HashedVoxelPointCloud.

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.

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.