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mrpt::slam::CPointsMap::TInsertionOptions Struct Reference

With this struct options are provided to the observation insertion process. More...

#include <mrpt/slam/CPointsMap.h>

Inheritance diagram for mrpt::slam::CPointsMap::TInsertionOptions:

mrpt::utils::CLoadableOptions

List of all members.

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters.
virtual ~TInsertionOptions ()
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
void dumpToTextStream (utils::CStream &out)
 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.
bool addToExistingPointsMap
 Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content.
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.
bool fuseWithExisting
 If set to true (default=false), inserted points are "fused" with previously existent ones.
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).
bool matchStaticPointsOnly
 Applicable only to points map INTO a MRML::CMultiMetricMap, If set to true only points in static cells will be taken into account for matching, ICP, .
float maxDistForInterpolatePoints
 The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true).


Detailed Description

With this struct options are provided to the observation insertion process.

See also:
CObservation::insertIntoPointsMap

Definition at line 340 of file CPointsMap.h.


Constructor & Destructor Documentation

mrpt::slam::CPointsMap::TInsertionOptions::TInsertionOptions (  ) 

Initilization of default parameters.

virtual mrpt::slam::CPointsMap::TInsertionOptions::~TInsertionOptions (  )  [inline, virtual]

Definition at line 345 of file CPointsMap.h.


Member Function Documentation

void mrpt::slam::CPointsMap::TInsertionOptions::dumpToTextStream ( utils::CStream out  )  [virtual]

void mrpt::slam::CPointsMap::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]


Member Data Documentation

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 364 of file CPointsMap.h.

If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).

Definition at line 368 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 372 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 376 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 385 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).

See also:
horizontalTolerance

Definition at line 381 of file CPointsMap.h.

Applicable only to points map INTO a MRML::CMultiMetricMap, If set to true only points in static cells will be taken into account for matching, ICP, .

..

Definition at line 389 of file CPointsMap.h.

The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true).

Definition at line 393 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 0.4 meters.

Definition at line 360 of file CPointsMap.h.




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