BuildParams Struct Reference

Parameters controlling NavMap construction from point clouds. More...

#include <conversions.hpp>

Collaboration diagram for BuildParams:

Public Attributes
bool	carve_free_space = true
	With viewpoints: drop the points in space that rays went through (people, noise).
float	carve_max_range = 20.0f
	Rays carve only their first carve_max_range meters.
float	carve_ratio = 1.0f
	A voxel is carved when rays went through it more than carve_ratio times its hits.
float	carve_voxel = 0.0f
	Voxel size (meters) of the free-space carving (0 = max(0.1, resolution / 2)).
bool	drop_seen_from_below = true
	With viewpoints: drop the faces only seen from below (ceilings, slab undersides).
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_hole_area = 1.0f
	Enclosed empty regions up to this area (square meters) are filled (0 = none).
float	max_slope_deg = 30.0f
	Maximum slope with respect to the vertical axis (degrees).
int	max_surfaces = 0
	Maximum number of surfaces to keep, largest first (0 = all).
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	min_clearance = 1.0f
	Vertical free space (meters) that separates two stacked surfaces in a cell.
float	min_surface_area = 0.0f
	Surfaces smaller than this area (square meters) are dropped (0 = keep all).
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 point clouds.

from_points() uses resolution, max_dz, max_slope_deg, min_area, min_clearance, max_surfaces, min_surface_area and max_hole_area. max_edge_len, neighbor_radius, k_neighbors, use_radius and min_angle_deg are kept for API compatibility and ignored. For voxelized clouds, use a resolution of at least twice the voxel size.

Member Data Documentation

carve_free_space

bool carve_free_space = true

With viewpoints: drop the points in space that rays went through (people, noise).

carve_max_range

float carve_max_range = 20.0f

Rays carve only their first carve_max_range meters.

carve_ratio

float carve_ratio = 1.0f

A voxel is carved when rays went through it more than carve_ratio times its hits.

carve_voxel

float carve_voxel = 0.0f

Voxel size (meters) of the free-space carving (0 = max(0.1, resolution / 2)).

drop_seen_from_below

bool drop_seen_from_below = true

With viewpoints: drop the faces only seen from below (ceilings, slab undersides).

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_hole_area

float max_hole_area = 1.0f

Enclosed empty regions up to this area (square meters) are filled (0 = none).

max_slope_deg

float max_slope_deg = 30.0f

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

max_surfaces

int max_surfaces = 0

Maximum number of surfaces to keep, largest first (0 = all).

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.

min_clearance

float min_clearance = 1.0f

Vertical free space (meters) that separates two stacked surfaces in a cell.

min_surface_area

float min_surface_area = 0.0f

Surfaces smaller than this area (square meters) are dropped (0 = keep all).

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