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Perception Tool Kit (PTK) API Guide
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Map configuration.
The configuration of a PTK_Map is nearly the same as the configuration for a PTK_Grid, but it has an additional member to specify the instance-specific details of PTK Grids stored within the PTK_Map.
Data Fields | |
uint32_t | xCells |
uint32_t | yCells |
uint32_t | zCells |
float | xCellSize |
float | yCellSize |
float | zCellSize |
float | xMin |
float | yMin |
float | zMin |
PTK_GridInfo | grid [PTK_MAP_MAX_NUM_GRIDS_PER_MAP] |
uint32_t PTK_MapConfig::xCells |
Number of cells along the x axis.
uint32_t PTK_MapConfig::yCells |
Number of cells along the y axis.
uint32_t PTK_MapConfig::zCells |
Number of cells along the z axis. If the z axis is not used, set this to 1.
float PTK_MapConfig::xCellSize |
Dimension of a cell along x in meters.
float PTK_MapConfig::yCellSize |
Dimension of a cell along y in meters.
float PTK_MapConfig::zCellSize |
Dimension of a cell along z in meters. If the z axis is not used, any nonzero value is valid.
float PTK_MapConfig::xMin |
Real x coordinate for start of cell 0.
float PTK_MapConfig::yMin |
Real y coordinate for start of cell 0.
float PTK_MapConfig::zMin |
Real z coordinate for start of cell 0. If the z axis is not used, any value is valid.
PTK_GridInfo PTK_MapConfig::grid[PTK_MAP_MAX_NUM_GRIDS_PER_MAP] |
Grid parameters. The element with an 'id' 0 is treated as a NULL node.