DescriptorParams Struct Reference

Which descriptors to compute, and over which neighbourhoods. More...

#include <Descriptors.hpp>

Collaboration diagram for DescriptorParams:

Public Attributes
bool	clearance {true}
	"clearance": free height to the next surface above (m)
float	clearance_max {10.0f}
	Beyond this, no surface above: +inf.
bool	roughness {true}
	"roughness": RMS distance to the plane fitted in a disc (m)
float	roughness_radius {0.3f}
	Disc for the roughness plane fit (m).
bool	slope {true}
	"slope": angle of the NavCel normal to the vertical (deg)
bool	step {true}
	"step": height span of the vertices in a disc (m)
float	step_radius {0.2f}
	Disc for the step (m).

Detailed Description

Which descriptors to compute, and over which neighbourhoods.

Member Data Documentation

clearance

bool clearance {true}

"clearance": free height to the next surface above (m)

clearance_max

float clearance_max {10.0f}

Beyond this, no surface above: +inf.

roughness

bool roughness {true}

"roughness": RMS distance to the plane fitted in a disc (m)

roughness_radius

float roughness_radius {0.3f}

Disc for the roughness plane fit (m).

slope

bool slope {true}

"slope": angle of the NavCel normal to the vertical (deg)

step

bool step {true}

"step": height span of the vertices in a disc (m)

step_radius

float step_radius {0.2f}

Disc for the step (m).

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The documentation for this struct was generated from the following file:

• navmap_core/include/navmap_core/Descriptors.hpp