Struct TVoxelMap_InsertionOptions

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TVoxelMap_InsertionOptions : public mrpt::config::CLoadableOptions

Public Functions

TVoxelMap_InsertionOptions() = default
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
void saveToConfigFile(mrpt::config::CConfigFileBase &c, const std::string &s) const override
void writeToStream(mrpt::serialization::CArchive &out) const
void readFromStream(mrpt::serialization::CArchive &in)

Public Members

double max_range = -1

Maximum insertion ray range (<0: none)

double prob_miss = 0.45
double prob_hit = 0.65
double clamp_min = 0.10
double clamp_max = 0.95
bool ray_trace_free_space = true
uint32_t decimation = 1
double remove_voxels_farther_than = .0

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