Struct TsdfIntegratorBase::Config

• Defined in File tsdf_integrator.h

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