Struct EsdfIntegrator::Config¶
- Defined in File esdf_integrator.h
Nested Relationships¶
This struct is a nested type of Class EsdfIntegrator.
Struct Documentation¶
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struct
Config
Public Members
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bool
full_euclidean_distance
= false Whether to use full euclidean distance (true) or quasi-euclidean (false).
Full euclidean is slightly more accurate (up to 8% in the worst case) but slower.
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FloatingPoint
max_distance_m
= 2.0 Maximum distance to calculate the actual distance to.
Any values above this will be set to default_distance_m.
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FloatingPoint
min_distance_m
= 0.2 Should mirror (or be smaller than) truncation distance in tsdf integrator.
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FloatingPoint
default_distance_m
= 2.0 Default distance set for unknown values and values > max_distance_m.
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FloatingPoint
min_diff_m
= 0.001 For cheaper but less accurate map updates: the minimum difference in a voxel distance, before the change is propagated.
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float
min_weight
= 1e-6 Minimum weight to consider a TSDF value seen at.
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int
num_buckets
= 20 Number of buckets for the bucketed priority queue.
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bool
multi_queue
= false Whether to push stuff to the open queue multiple times, with updated distances.
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bool
add_occupied_crust
= false Whether to add an outside layer of occupied voxels.
Basically just sets all unknown voxels in the allocated blocks to occupied. Try to only use this for batch processing, otherwise look into addNewRobotPosition below, which uses clear spheres.
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FloatingPoint
clear_sphere_radius
= 1.5 For marking unknown space around a robot as free or occupied, these are the radiuses used around each robot position.
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FloatingPoint
occupied_sphere_radius
= 5.0
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bool