BuildParams Struct Reference

Parameters controlling NavMap construction from unorganized points. More...

#include <conversions.hpp>

Collaboration diagram for BuildParams:

Public Attributes
int	k_neighbors = 20
	Alternative to radius: number of nearest neighbors (k-NN).
float	max_dz = 0.25f
	Maximum allowed vertical jump (meters) between vertices of a triangle.
float	max_edge_len = 2.0
	Maximum allowed edge length (meters) when forming triangles.
float	max_slope_deg = 30.0f
	Maximum slope with respect to the vertical axis (degrees).
int	max_surfaces = 0
	Maximun surfaces to keep, ordenred by size.
float	min_angle_deg = 20.0f
	Minimum interior angle (degrees) to avoid sliver triangles.
float	min_area = 1e-6f
	Minimum triangle area (square meters) to reject degenerate faces.
float	neighbor_radius = 2.0f
	Neighborhood radius (meters) for candidate connectivity.
float	resolution = 1.0
	Target in-plane sampling resolution (meters) used by voxelization or gridding.
bool	use_radius = true
	If true, use radius-based neighborhoods; otherwise use k-NN.

Detailed Description

Parameters controlling NavMap construction from unorganized points.

These parameters guide neighborhood search, local meshing, and basic geometric filtering used by the point-cloud based builders.

Member Data Documentation

k_neighbors

int k_neighbors = 20

Alternative to radius: number of nearest neighbors (k-NN).

max_dz

float max_dz = 0.25f

Maximum allowed vertical jump (meters) between vertices of a triangle.

max_edge_len

float max_edge_len = 2.0

Maximum allowed edge length (meters) when forming triangles.

max_slope_deg

float max_slope_deg = 30.0f

Maximum slope with respect to the vertical axis (degrees).

max_surfaces

int max_surfaces = 0

Maximun surfaces to keep, ordenred by size.

min_angle_deg

float min_angle_deg = 20.0f

Minimum interior angle (degrees) to avoid sliver triangles.

min_area

float min_area = 1e-6f

Minimum triangle area (square meters) to reject degenerate faces.

neighbor_radius

float neighbor_radius = 2.0f

Neighborhood radius (meters) for candidate connectivity.

resolution

float resolution = 1.0

Target in-plane sampling resolution (meters) used by voxelization or gridding.

use_radius

bool use_radius = true

If true, use radius-based neighborhoods; otherwise use k-NN.

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

• navmap_ros/include/navmap_ros/conversions.hpp