Definition at line 214 of file CObservationVelodyneScan.h.
#include <mrpt/obs/CObservationVelodyneScan.h>
Public Member Functions | |
TGeneratePointCloudParameters () | |
Public Attributes | |
double | minAzimuth_deg |
Minimum azimuth, in degrees (Default=0). More... | |
double | maxAzimuth_deg |
Minimum azimuth, in degrees (Default=360). More... | |
float | minDistance |
Minimum (default=1.0f) and maximum (default: Infinity) distances/ranges for a point to be considered. More... | |
float | maxDistance |
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. More... | |
bool | dualKeepStrongest |
(Default:true) In VLP16 dual mode, keep both or just one of the returns. More... | |
bool | dualKeepLast |
bool | generatePerPointTimestamp |
(Default:false) If true , populate the vector timestamp More... | |
bool | generatePerPointAzimuth |
(Default:false) If true , populate the vector azimuth More... | |
CObservationVelodyneScan::TGeneratePointCloudParameters::TGeneratePointCloudParameters | ( | ) |
Definition at line 48 of file CObservationVelodyneScan.cpp.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepLast |
Definition at line 249 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepStrongest |
(Default:true) In VLP16 dual mode, keep both or just one of the returns.
Definition at line 249 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterBynROI |
Enable nROI filter (Default:false): do NOT add points inside a given 3D box.
Definition at line 243 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterByROI |
Enable ROI filter (Default:false): add points inside a given 3D box.
Definition at line 240 of file CObservationVelodyneScan.h.
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 246 of file CObservationVelodyneScan.h.
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointAzimuth |
(Default:false) If true
, populate the vector azimuth
Definition at line 253 of file CObservationVelodyneScan.h.
Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().
bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointTimestamp |
(Default:false) If true
, populate the vector timestamp
Definition at line 251 of file CObservationVelodyneScan.h.
Referenced by mrpt::obs::CObservationVelodyneScan::generatePointCloud().
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 236 of file CObservationVelodyneScan.h.
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 221 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxDistance |
Definition at line 226 of file CObservationVelodyneScan.h.
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 218 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::minDistance |
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 226 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_max |
Definition at line 232 of file CObservationVelodyneScan.h.
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.
Definition at line 232 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_max |
Definition at line 232 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_min |
Definition at line 232 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_max |
Definition at line 232 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_min |
Definition at line 232 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_max |
Definition at line 229 of file CObservationVelodyneScan.h.
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.
Definition at line 229 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_max |
Definition at line 229 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_min |
Definition at line 229 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_max |
Definition at line 229 of file CObservationVelodyneScan.h.
float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_min |
Definition at line 229 of file CObservationVelodyneScan.h.
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