MRPT
2.0.0
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Definition at line 268 of file CObservationVelodyneScan.h.
#include <mrpt/obs/CObservationVelodyneScan.h>
Public Member Functions | |
TGeneratePointCloudParameters () | |
Public Attributes | |
double | minAzimuth_deg {.0} |
Minimum azimuth, in degrees (Default=0). More... | |
double | maxAzimuth_deg {360.} |
Minimum azimuth, in degrees (Default=360). More... | |
float | minDistance {1.0f} |
Minimum (default=1.0f) and maximum (default: Infinity) distances/ranges for a point to be considered. More... | |
float | maxDistance {std::numeric_limits<float>::max()} |
float | ROI_x_min {-std::numeric_limits<float>::max()} |
The limits of the 3D box (default=infinity) in sensor (not vehicle) local coordinates for the ROI filter. More... | |
float | ROI_x_max {std::numeric_limits<float>::max()} |
float | ROI_y_min {-std::numeric_limits<float>::max()} |
float | ROI_y_max {std::numeric_limits<float>::max()} |
float | ROI_z_min {-std::numeric_limits<float>::max()} |
float | ROI_z_max {std::numeric_limits<float>::max()} |
float | nROI_x_min {0} |
The limits of the 3D box (default=0) in sensor (not vehicle) local coordinates for the nROI filter. More... | |
float | nROI_x_max {0} |
float | nROI_y_min {0} |
float | nROI_y_max {0} |
float | nROI_z_min {0} |
float | nROI_z_max {0} |
float | isolatedPointsFilterDistance {2.0f} |
(Default:2.0 meters) Minimum distance between a point and its two neighbors to be considered an invalid point. More... | |
bool | filterByROI {false} |
Enable ROI filter (Default:false): add points inside a given 3D box. More... | |
bool | filterBynROI {false} |
Enable nROI filter (Default:false): do NOT add points inside a given 3D box. More... | |
bool | filterOutIsolatedPoints {false} |
(Default:false) Simple filter to remove spurious returns (e.g. More... | |
bool | dualKeepStrongest {true} |
(Default:true) In VLP16 dual mode, keep both or just one of the returns. More... | |
bool | dualKeepLast {true} |
bool | generatePerPointTimestamp {false} |
(Default:false) If true , populate the vector timestamp More... | |
bool | generatePerPointAzimuth {false} |
(Default:false) If true , populate the vector azimuth More... | |
bool | generatePointsForLaserID {false} |
(Default:false) If true , populate pointsForLaserID More... | |
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepLast {true} |
Definition at line 309 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepStrongest {true} |
(Default:true) In VLP16 dual mode, keep both or just one of the returns.
Definition at line 309 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterBynROI {false} |
Enable nROI filter (Default:false): do NOT add points inside a given 3D box.
Definition at line 303 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterByROI {false} |
Enable ROI filter (Default:false): add points inside a given 3D box.
Definition at line 300 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterOutIsolatedPoints {false} |
(Default:false) Simple filter to remove spurious returns (e.g.
Sun reflected on large water extensions)
Definition at line 306 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointAzimuth {false} |
(Default:false) If true
, populate the vector azimuth
Definition at line 313 of file CObservationVelodyneScan.h.
Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointTimestamp {false} |
(Default:false) If true
, populate the vector timestamp
Definition at line 311 of file CObservationVelodyneScan.h.
Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePointsForLaserID {false} |
(Default:false) If true
, populate pointsForLaserID
Definition at line 315 of file CObservationVelodyneScan.h.
Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::isolatedPointsFilterDistance {2.0f} |
(Default:2.0 meters) Minimum distance between a point and its two neighbors to be considered an invalid point.
Definition at line 296 of file CObservationVelodyneScan.h.
double mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxAzimuth_deg {360.} |
Minimum azimuth, in degrees (Default=360).
Points will be generated only the the area of interest [minAzimuth, maxAzimuth]
Definition at line 276 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxDistance {std::numeric_limits<float>::max()} |
Definition at line 281 of file CObservationVelodyneScan.h.
double mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::minAzimuth_deg {.0} |
Minimum azimuth, in degrees (Default=0).
Points will be generated only the the area of interest [minAzimuth, maxAzimuth]
Definition at line 273 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::minDistance {1.0f} |
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 281 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_max {0} |
Definition at line 292 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_min {0} |
The limits of the 3D box (default=0) in sensor (not vehicle) local coordinates for the nROI filter.
Definition at line 292 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_max {0} |
Definition at line 292 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_min {0} |
Definition at line 292 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_max {0} |
Definition at line 293 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_min {0} |
Definition at line 293 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_max {std::numeric_limits<float>::max()} |
Definition at line 285 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_min {-std::numeric_limits<float>::max()} |
The limits of the 3D box (default=infinity) in sensor (not vehicle) local coordinates for the ROI filter.
Definition at line 284 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_max {std::numeric_limits<float>::max()} |
Definition at line 287 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_min {-std::numeric_limits<float>::max()} |
Definition at line 286 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_max {std::numeric_limits<float>::max()} |
Definition at line 289 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_min {-std::numeric_limits<float>::max()} |
Definition at line 288 of file CObservationVelodyneScan.h.
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