#include <mrpt/slam/CPointsMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. | |
virtual | ~TInsertionOptions () |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
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). |
Definition at line 340 of file CPointsMap.h.
mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
virtual mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::~TInsertionOptions | ( | ) | [inline, virtual] |
Definition at line 345 of file CPointsMap.h.
void mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::dumpToTextStream | ( | utils::CStream & | out | ) | [virtual] |
void mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
bool mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::addToExistingPointsMap |
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.
bool mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::also_interpolate |
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.
bool mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::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.
Definition at line 372 of file CPointsMap.h.
bool mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::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.
Definition at line 376 of file CPointsMap.h.
float mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::horizontalTolerance |
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.
bool mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::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).
Definition at line 381 of file CPointsMap.h.
bool mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::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, .
..
Definition at line 389 of file CPointsMap.h.
float mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints |
The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true).
Definition at line 393 of file CPointsMap.h.
float mrpt::slam::CPointsMap::CPointsMap::TInsertionOptions::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 0.4 meters.
Definition at line 360 of file CPointsMap.h.
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