class mrpt::maps::COccupancyGridMap3D::TInsertionOptions

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

See also:

CObservation::insertIntoGridMap

#include <mrpt/maps/COccupancyGridMap3D.h>

class TInsertionOptions: public mrpt::config::CLoadableOptions
{
public:
    //
fields

    float maxDistanceInsertion {15.0f};
    float maxOccupancyUpdateCertainty {0.65f};
    float maxFreenessUpdateCertainty {.0f};
    uint16_t decimation_3d_range {8};
    uint16_t decimation {1};
    bool raytraceEmptyCells = true;

    // construction

    TInsertionOptions();

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
};

Inherited Members

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

float maxDistanceInsertion {15.0f}

Largest distance at which voxels are updated (Default: 15 meters)

float maxOccupancyUpdateCertainty {0.65f}

A value in the range [0.5,1] used for updating voxel with a Bayesian approach (default 0.65)

float maxFreenessUpdateCertainty {.0f}

A value in the range [0.5,1] for updating a free voxel.

(default=0 means use the same than maxOccupancyUpdateCertainty)

uint16_t decimation_3d_range {8}

Specify the decimation of 3D range scans.

“N” means keeping the minimum range of each block of “NxN” range pixels. (default=8)

uint16_t decimation {1}

Decimation for insertPointCloud() or 2D range scans (Default: 1)

bool raytraceEmptyCells = true

If true, raytrace and fill empty cells.

If false, only the final (end point) of each ray will be marked as occupied.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini” file.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution=0.10     ; blah blah...
modeSelection=1     ; 0=blah, 1=blah,...

virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const

This method saves the options to a “.ini”-like file or memory-stored string list.