Struct TsdfIntegratorBase::Config

Nested Relationships

This struct is a nested type of Class TsdfIntegratorBase.

Struct Documentation

struct Config

Public Members

float default_truncation_distance = 0.1
float max_weight = 10000.0
bool voxel_carving_enabled = true
FloatingPoint min_ray_length_m = 0.1
FloatingPoint max_ray_length_m = 5.0
bool use_const_weight = false
bool allow_clear = true
bool use_weight_dropoff = true
bool use_sparsity_compensation_factor = false
float sparsity_compensation_factor = 1.0f
size_t integrator_threads = std::thread::hardware_concurrency()
bool enable_anti_grazing = false

merge integrator specific

float start_voxel_subsampling_factor = 2.0f

fast integrator specific

int max_consecutive_ray_collisions = 2

fast integrator specific

int clear_checks_every_n_frames = 1

fast integrator specific

float max_integration_time_s = std::numeric_limits<float>::max()

fast integrator specific