Struct TVoxelMap_LikelihoodOptions

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TVoxelMap_LikelihoodOptions : public mrpt::config::CLoadableOptions

Options used when evaluating “computeObservationLikelihood”

See also

CObservation::computeObservationLikelihood

Public Functions

TVoxelMap_LikelihoodOptions() = default
~TVoxelMap_LikelihoodOptions() override = 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

uint32_t decimate_up_to = 0

Speed up the likelihood computation by considering only a maximum of decimate_up_to rays. Values <=1 mean use all measurements without decimation.

double occupiedThreshold = 0.60

Minimum occupancy (0,1) for a voxel to be considered occupied.