Struct BuildParams

• Defined in File conversions.hpp

Struct Documentation

struct BuildParams

Parameters controlling NavMap construction from unorganized points.

These parameters guide neighborhood search, local meshing, and basic geometric filtering used by the point-cloud based builders.

Public Members

float resolution = 1.0

Target in-plane sampling resolution (meters) used by voxelization or gridding.

float max_edge_len = 2.0

Maximum allowed edge length (meters) when forming triangles.

float max_dz = 0.25f

Maximum allowed vertical jump (meters) between vertices of a triangle.

float max_slope_deg = 30.0f

Maximum slope with respect to the vertical axis (degrees).

float neighbor_radius = 2.0f

Neighborhood radius (meters) for candidate connectivity.

int k_neighbors = 20

Alternative to radius: number of nearest neighbors (k-NN).

float min_area = 1e-6f

Minimum triangle area (square meters) to reject degenerate faces.

bool use_radius = true

If true, use radius-based neighborhoods; otherwise use k-NN.

float min_angle_deg = 20.0f

Minimum interior angle (degrees) to avoid sliver triangles.

int max_surfaces = 0

Maximun surfaces to keep, ordenred by size.