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Fix surface creation from points #10

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Merged
fmrico merged 7 commits into from
Oct 20, 2025
Merged

Fix surface creation from points #10

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3730c87
Initial working version
fmrico Oct 20, 2025
27cea21
Working slow with many points
fmrico Oct 20, 2025
c9fd47e
Acelerated respecting floors
fmrico Oct 20, 2025
a8cbca3
Final working version
fmrico Oct 20, 2025
dac1a97
Final working version
fmrico Oct 20, 2025
12e04ca
Remove some comments
fmrico Oct 20, 2025
a4bc0be
Remove unused field
fmrico Oct 20, 2025
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6 changes: 3 additions & 3 deletions navmap_ros/include/navmap_ros/conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -184,9 +184,6 @@ nav_msgs::msg::OccupancyGrid to_occupancy_grid(const navmap::NavMap & nm);
*/
struct BuildParams
{
/** @brief Seed position (world frame) used by region growing or initial search heuristics. */
Eigen::Vector3f seed = {0.0, 0.0, 0.0};

/** @brief Target in-plane sampling resolution (meters) used by voxelization or gridding. */
float resolution = 1.0;

Expand All @@ -213,6 +210,9 @@ struct BuildParams

/** @brief Minimum interior angle (degrees) to avoid sliver triangles. */
float min_angle_deg = 20.0f; // minimum interior angle (deg) to avoid sliver triangles

/** @brief Maximun surfaces to keep, ordenred by size. */
int max_surfaces = 0; // 0 ó <0 => no limits. >0 => Keep only N larger
};

/**
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