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

Detailed Description

Definition at line 211 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...

Constructor & Destructor Documentation

TGeneratePointCloudParameters()

mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::TGeneratePointCloudParameters ( )

inline

Definition at line 213 of file CObservationVelodyneScan.h.

Member Data Documentation

dualKeepLast

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepLast {true}

Definition at line 252 of file CObservationVelodyneScan.h.

dualKeepStrongest

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepStrongest {true}

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

Definition at line 252 of file CObservationVelodyneScan.h.

filterBynROI

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterBynROI {false}

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

Definition at line 246 of file CObservationVelodyneScan.h.

filterByROI

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::filterByROI {false}

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

Definition at line 243 of file CObservationVelodyneScan.h.

filterOutIsolatedPoints

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 249 of file CObservationVelodyneScan.h.

generatePerPointAzimuth

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointAzimuth {false}

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

Definition at line 256 of file CObservationVelodyneScan.h.

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

generatePerPointTimestamp

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::generatePerPointTimestamp {false}

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

Definition at line 254 of file CObservationVelodyneScan.h.

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

isolatedPointsFilterDistance

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 239 of file CObservationVelodyneScan.h.

maxAzimuth_deg

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 219 of file CObservationVelodyneScan.h.

maxDistance

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxDistance {std::numeric_limits<float>::max()}

Definition at line 224 of file CObservationVelodyneScan.h.

minAzimuth_deg

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 216 of file CObservationVelodyneScan.h.

minDistance

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 224 of file CObservationVelodyneScan.h.

nROI_x_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_max {0}

Definition at line 235 of file CObservationVelodyneScan.h.

nROI_x_min

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.

See also

filterBynROI

Definition at line 235 of file CObservationVelodyneScan.h.

nROI_y_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_max {0}

Definition at line 235 of file CObservationVelodyneScan.h.

nROI_y_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_min {0}

Definition at line 235 of file CObservationVelodyneScan.h.

nROI_z_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_max {0}

Definition at line 236 of file CObservationVelodyneScan.h.

nROI_z_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_min {0}

Definition at line 236 of file CObservationVelodyneScan.h.

ROI_x_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_max {std::numeric_limits<float>::max()}

Definition at line 228 of file CObservationVelodyneScan.h.

ROI_x_min

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.

See also

filterByROI

Definition at line 227 of file CObservationVelodyneScan.h.

ROI_y_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_max {std::numeric_limits<float>::max()}

Definition at line 230 of file CObservationVelodyneScan.h.

ROI_y_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_min {-std::numeric_limits<float>::max()}

Definition at line 229 of file CObservationVelodyneScan.h.

ROI_z_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_max {std::numeric_limits<float>::max()}

Definition at line 232 of file CObservationVelodyneScan.h.

ROI_z_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_min {-std::numeric_limits<float>::max()}

Definition at line 231 of file CObservationVelodyneScan.h.