mrpt::obs::T3DPointsTo2DScanParams Struct Reference

Detailed Description

Used in CObservation3DRangeScan::convertTo2DScan()

Definition at line 42 of file obs/CObservation3DRangeScan.h.

#include <mrpt/obs/CObservation3DRangeScan.h>

Public Member Functions
	T3DPointsTo2DScanParams ()

Public Attributes
std::string	sensorLabel
	The sensor label that will have the newly created observation. More...
double	angle_sup
double	angle_inf
	(Default=5 degrees) [Only if use_origin_sensor_pose=false] The upper & lower half-FOV angle (in radians). More...
double	z_min
double	z_max
	(Default:-inf, +inf) [Only if use_origin_sensor_pose=true] Only obstacle points with Z coordinates within the range [z_min,z_max] will be taken into account. More...
double	oversampling_ratio
	(Default=1.2=120%) How many more laser scans rays to create (read docs for CObservation3DRangeScan::convertTo2DScan()). More...
bool	use_origin_sensor_pose
	(Default:false) If false, the conversion will be such that the 2D observation pose on the robot coincides with that in the original 3D range scan. More...

Constructor & Destructor Documentation

T3DPointsTo2DScanParams()

T3DPointsTo2DScanParams::T3DPointsTo2DScanParams

(

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Definition at line 1176 of file CObservation3DRangeScan.cpp.

Member Data Documentation

angle_inf

double mrpt::obs::T3DPointsTo2DScanParams::angle_inf

(Default=5 degrees) [Only if use_origin_sensor_pose=false] The upper & lower half-FOV angle (in radians).

Definition at line 45 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

angle_sup

double mrpt::obs::T3DPointsTo2DScanParams::angle_sup

Definition at line 45 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

oversampling_ratio

double mrpt::obs::T3DPointsTo2DScanParams::oversampling_ratio

(Default=1.2=120%) How many more laser scans rays to create (read docs for CObservation3DRangeScan::convertTo2DScan()).

Definition at line 47 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

sensorLabel

std::string mrpt::obs::T3DPointsTo2DScanParams::sensorLabel

The sensor label that will have the newly created observation.

Definition at line 44 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

use_origin_sensor_pose

bool mrpt::obs::T3DPointsTo2DScanParams::use_origin_sensor_pose

(Default:false) If false, the conversion will be such that the 2D observation pose on the robot coincides with that in the original 3D range scan.

If true, the sensed points will be "reprojected" as seen from a sensor pose at the robot/vehicle frame origin (and angle_sup, angle_inf will be ignored)

Definition at line 51 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

z_max

double mrpt::obs::T3DPointsTo2DScanParams::z_max

(Default:-inf, +inf) [Only if use_origin_sensor_pose=true] Only obstacle points with Z coordinates within the range [z_min,z_max] will be taken into account.

Definition at line 46 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

z_min

double mrpt::obs::T3DPointsTo2DScanParams::z_min

Definition at line 46 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().