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mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters Struct Reference

Detailed Description

Definition at line 162 of file CObservationVelodyneScan.h.

#include <mrpt/obs/CObservationVelodyneScan.h>

Public Member Functions

 TGeneratePointCloudParameters ()
 

Public Attributes

double minAzimuth_deg
 Minimum azimuth, in degrees (Default=0). Points will be generated only the the area of interest [minAzimuth, maxAzimuth]. More...
 
double maxAzimuth_deg
 Minimum azimuth, in degrees (Default=360). Points will be generated only the the area of interest [minAzimuth, maxAzimuth]. More...
 
float minDistance
 
float maxDistance
 Minimum (default=1.0f) and maximum (default: Infinity) distances/ranges for a point to be considered. Points must pass this (application specific) condition and also the minRange/maxRange values in CObservationVelodyneScan (sensor-specific). More...
 
float ROI_x_min
 The limits of the 3D box (default=infinity) in sensor (not vehicle) local coordinates for the ROI filter. More...
 
float ROI_x_max
 
float ROI_y_min
 
float ROI_y_max
 
float ROI_z_min
 
float ROI_z_max
 
float nROI_x_min
 The limits of the 3D box (default=0) in sensor (not vehicle) local coordinates for the nROI filter. More...
 
float nROI_x_max
 
float nROI_y_min
 
float nROI_y_max
 
float nROI_z_min
 
float nROI_z_max
 
float isolatedPointsFilterDistance
 (Default:2.0 meters) Minimum distance between a point and its two neighbors to be considered an invalid point. More...
 
bool filterByROI
 Enable ROI filter (Default:false): add points inside a given 3D box. More...
 
bool filterBynROI
 Enable nROI filter (Default:false): do NOT add points inside a given 3D box. More...
 
bool filterOutIsolatedPoints
 (Default:false) Simple filter to remove spurious returns (e.g. Sun reflected on large water extensions) More...
 
bool dualKeepStrongest
 
bool dualKeepLast
 (Default:true) In VLP16 dual mode, keep both or just one of the returns. More...
 
bool generatePerPointTimestamp
 (Default:false) If true, populate the vector timestamp More...
 
bool generatePerPointAzimuth
 (Default:false) If true, populate the vector azimuth More...
 

Constructor & Destructor Documentation

◆ TGeneratePointCloudParameters()

CObservationVelodyneScan::TGeneratePointCloudParameters::TGeneratePointCloudParameters ( )

Definition at line 44 of file CObservationVelodyneScan.cpp.

Member Data Documentation

◆ dualKeepLast

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepLast

(Default:true) In VLP16 dual mode, keep both or just one of the returns.

Definition at line 176 of file CObservationVelodyneScan.h.

◆ dualKeepStrongest

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepStrongest

Definition at line 176 of file CObservationVelodyneScan.h.

◆ filterBynROI

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterBynROI

Enable nROI filter (Default:false): do NOT add points inside a given 3D box.

Definition at line 174 of file CObservationVelodyneScan.h.

◆ filterByROI

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterByROI

Enable ROI filter (Default:false): add points inside a given 3D box.

Definition at line 173 of file CObservationVelodyneScan.h.

◆ filterOutIsolatedPoints

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterOutIsolatedPoints

(Default:false) Simple filter to remove spurious returns (e.g. Sun reflected on large water extensions)

Definition at line 175 of file CObservationVelodyneScan.h.

◆ generatePerPointAzimuth

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointAzimuth

(Default:false) If true, populate the vector azimuth

Definition at line 178 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

◆ generatePerPointTimestamp

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointTimestamp

(Default:false) If true, populate the vector timestamp

Definition at line 177 of file CObservationVelodyneScan.h.

Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().

◆ isolatedPointsFilterDistance

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::isolatedPointsFilterDistance

(Default:2.0 meters) Minimum distance between a point and its two neighbors to be considered an invalid point.

Definition at line 171 of file CObservationVelodyneScan.h.

◆ maxAzimuth_deg

double mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxAzimuth_deg

Minimum azimuth, in degrees (Default=360). Points will be generated only the the area of interest [minAzimuth, maxAzimuth].

Definition at line 165 of file CObservationVelodyneScan.h.

◆ maxDistance

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxDistance

Minimum (default=1.0f) and maximum (default: Infinity) distances/ranges for a point to be considered. Points must pass this (application specific) condition and also the minRange/maxRange values in CObservationVelodyneScan (sensor-specific).

Definition at line 166 of file CObservationVelodyneScan.h.

◆ minAzimuth_deg

double mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::minAzimuth_deg

Minimum azimuth, in degrees (Default=0). Points will be generated only the the area of interest [minAzimuth, maxAzimuth].

Definition at line 164 of file CObservationVelodyneScan.h.

◆ minDistance

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::minDistance

Definition at line 166 of file CObservationVelodyneScan.h.

◆ nROI_x_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_max

Definition at line 170 of file CObservationVelodyneScan.h.

◆ nROI_x_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_min

The limits of the 3D box (default=0) in sensor (not vehicle) local coordinates for the nROI filter.

See also
filterBynROI

Definition at line 170 of file CObservationVelodyneScan.h.

◆ nROI_y_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_max

Definition at line 170 of file CObservationVelodyneScan.h.

◆ nROI_y_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_min

Definition at line 170 of file CObservationVelodyneScan.h.

◆ nROI_z_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_max

Definition at line 170 of file CObservationVelodyneScan.h.

◆ nROI_z_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_min

Definition at line 170 of file CObservationVelodyneScan.h.

◆ ROI_x_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_max

Definition at line 168 of file CObservationVelodyneScan.h.

◆ ROI_x_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_min

The limits of the 3D box (default=infinity) in sensor (not vehicle) local coordinates for the ROI filter.

See also
filterByROI

Definition at line 168 of file CObservationVelodyneScan.h.

◆ ROI_y_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_max

Definition at line 168 of file CObservationVelodyneScan.h.

◆ ROI_y_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_min

Definition at line 168 of file CObservationVelodyneScan.h.

◆ ROI_z_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_max

Definition at line 168 of file CObservationVelodyneScan.h.

◆ ROI_z_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_min

Definition at line 168 of file CObservationVelodyneScan.h.




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