With this struct options are provided to the observation insertion process.
Definition at line 132 of file CPointsMap.h.
#include <mrpt/slam/CPointsMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (CStream &out) const |
See utils::CLoadableOptions. | |
Public Attributes | |
float | minDistBetweenLaserPoints |
The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters. | |
bool | addToExistingPointsMap |
Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false. | |
bool | also_interpolate |
If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). | |
bool | disableDeletion |
If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet. | |
bool | fuseWithExisting |
If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower. | |
bool | isPlanarMap |
If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). | |
float | horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0). | |
float | maxDistForInterpolatePoints |
The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true). |
mrpt::slam::CPointsMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
void mrpt::slam::CPointsMap::TInsertionOptions::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CPointsMap::TInsertionOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false.
Definition at line 142 of file CPointsMap.h.
If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).
Definition at line 143 of file CPointsMap.h.
If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet.
Definition at line 144 of file CPointsMap.h.
If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower.
Definition at line 145 of file CPointsMap.h.
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).
Definition at line 147 of file CPointsMap.h.
If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated).
Definition at line 146 of file CPointsMap.h.
The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true).
Definition at line 148 of file CPointsMap.h.
The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters.
Definition at line 141 of file CPointsMap.h.
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