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Added parameter GridGlobal/AltitudeDelta

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matlabbe
2021-02-21 13:00:16 -05:00
parent e59aad03ed
commit 8696a38343
4 changed files with 82 additions and 25 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -752,6 +752,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
RTABMAP_PARAM(GridGlobal, AltitudeDelta, float, 0, "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).");
RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");