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

Detailed Description

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...

Constructor & Destructor Documentation

TGeneratePointCloudParameters()

CObservationVelodyneScan::TGeneratePointCloudParameters::TGeneratePointCloudParameters

(

)

Definition at line 48 of file CObservationVelodyneScan.cpp.

Member Data Documentation

dualKeepLast

bool mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::dualKeepLast

Definition at line 249 of file CObservationVelodyneScan.h.

dualKeepStrongest

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.

filterBynROI

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.

filterByROI

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.

filterOutIsolatedPoints

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.

generatePerPointAzimuth

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().

generatePerPointTimestamp

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().

isolatedPointsFilterDistance

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.

maxAzimuth_deg

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.

maxDistance

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::maxDistance

Definition at line 226 of file CObservationVelodyneScan.h.

minAzimuth_deg

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.

minDistance

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.

nROI_x_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_x_max

Definition at line 232 of file CObservationVelodyneScan.h.

nROI_x_min

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.

See also

filterBynROI

Definition at line 232 of file CObservationVelodyneScan.h.

nROI_y_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_max

Definition at line 232 of file CObservationVelodyneScan.h.

nROI_y_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_y_min

Definition at line 232 of file CObservationVelodyneScan.h.

nROI_z_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_max

Definition at line 232 of file CObservationVelodyneScan.h.

nROI_z_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::nROI_z_min

Definition at line 232 of file CObservationVelodyneScan.h.

ROI_x_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_x_max

Definition at line 229 of file CObservationVelodyneScan.h.

ROI_x_min

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.

See also

filterByROI

Definition at line 229 of file CObservationVelodyneScan.h.

ROI_y_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_max

Definition at line 229 of file CObservationVelodyneScan.h.

ROI_y_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_y_min

Definition at line 229 of file CObservationVelodyneScan.h.

ROI_z_max

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_max

Definition at line 229 of file CObservationVelodyneScan.h.

ROI_z_min

float mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters::ROI_z_min

Definition at line 229 of file CObservationVelodyneScan.h.