T3DPointsTo2DScanParams.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <string>

namespace mrpt::obs
{
/** Used in CObservation3DRangeScan::convertTo2DScan()
 * \ingroup mrpt_obs_grp
 */
struct T3DPointsTo2DScanParams
{
    /** The sensor label that will have the newly created observation. */
    std::string sensorLabel;
    /** (Default=5 degrees) [Only if use_origin_sensor_pose=false] The upper &
     * lower half-FOV angle (in radians). */
    double angle_sup, angle_inf;
    /** (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. */
    double z_min, z_max;
    /** (Default=1.2=120%) How many more laser scans rays to create (read docs
     * for CObservation3DRangeScan::convertTo2DScan()). */
    double oversampling_ratio{1.2};

    /** (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) */
    bool use_origin_sensor_pose{false};

    T3DPointsTo2DScanParams();
};
}  // namespace mrpt::obs