mrpt::obs::T3DPointsTo2DScanParams Struct Reference

Detailed Description

Used in CObservation3DRangeScan::convertTo2DScan()

Definition at line 18 of file T3DPointsTo2DScanParams.h.

#include <mrpt/obs/T3DPointsTo2DScanParams.h>

Public Member Functions
	T3DPointsTo2DScanParams ()

Public Attributes
std::string	sensorLabel
	The sensor label that will have the newly created observation. More...
double	angle_sup
	(Default=5 degrees) [Only if use_origin_sensor_pose=false] The upper & lower half-FOV angle (in radians). More...
double	angle_inf
double	z_min
	(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. More...
double	z_max
double	oversampling_ratio {1.2}
	(Default=1.2=120%) How many more laser scans rays to create (read docs for CObservation3DRangeScan::convertTo2DScan()). More...
bool	use_origin_sensor_pose {false}
	(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. More...

Constructor & Destructor Documentation

T3DPointsTo2DScanParams()

T3DPointsTo2DScanParams::T3DPointsTo2DScanParams

(

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Definition at line 1482 of file CObservation3DRangeScan.cpp.

Member Data Documentation

angle_inf

double mrpt::obs::T3DPointsTo2DScanParams::angle_inf

Definition at line 24 of file T3DPointsTo2DScanParams.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), and mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream().

angle_sup

double mrpt::obs::T3DPointsTo2DScanParams::angle_sup

(Default=5 degrees) [Only if use_origin_sensor_pose=false] The upper & lower half-FOV angle (in radians).

Definition at line 24 of file T3DPointsTo2DScanParams.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), and mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream().

oversampling_ratio

double mrpt::obs::T3DPointsTo2DScanParams::oversampling_ratio {1.2}

(Default=1.2=120%) How many more laser scans rays to create (read docs for CObservation3DRangeScan::convertTo2DScan()).

Definition at line 31 of file T3DPointsTo2DScanParams.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), and mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream().

sensorLabel

std::string mrpt::obs::T3DPointsTo2DScanParams::sensorLabel

The sensor label that will have the newly created observation.

Definition at line 21 of file T3DPointsTo2DScanParams.h.

Referenced by mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream().

use_origin_sensor_pose

bool mrpt::obs::T3DPointsTo2DScanParams::use_origin_sensor_pose {false}

(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)

Definition at line 39 of file T3DPointsTo2DScanParams.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

z_max

double mrpt::obs::T3DPointsTo2DScanParams::z_max

Definition at line 28 of file T3DPointsTo2DScanParams.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan().

z_min

double mrpt::obs::T3DPointsTo2DScanParams::z_min

(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.

Definition at line 28 of file T3DPointsTo2DScanParams.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), and mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream().