MRPT  1.9.9
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mrpt::obs::CObservationVelodyneScan::TGeneratePointCloudParameters Struct Reference

Detailed Description

Definition at line 268 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...
 
bool generatePointsForLaserID {false}
 (Default:false) If true, populate pointsForLaserID More...
 

Constructor & Destructor Documentation

◆ TGeneratePointCloudParameters()

Member Data Documentation

◆ dualKeepLast

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

Definition at line 309 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 309 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 303 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 300 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 306 of file CObservationVelodyneScan.h.

◆ generatePerPointAzimuth

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

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

Definition at line 313 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 311 of file CObservationVelodyneScan.h.

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

◆ generatePointsForLaserID

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

(Default:false) If true, populate pointsForLaserID

Definition at line 315 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 296 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 276 of file CObservationVelodyneScan.h.

◆ maxDistance

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

Definition at line 281 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 273 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 281 of file CObservationVelodyneScan.h.

◆ nROI_x_max

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

Definition at line 292 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 292 of file CObservationVelodyneScan.h.

◆ nROI_y_max

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

Definition at line 292 of file CObservationVelodyneScan.h.

◆ nROI_y_min

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

Definition at line 292 of file CObservationVelodyneScan.h.

◆ nROI_z_max

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

Definition at line 293 of file CObservationVelodyneScan.h.

◆ nROI_z_min

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

Definition at line 293 of file CObservationVelodyneScan.h.

◆ ROI_x_max

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

Definition at line 285 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 284 of file CObservationVelodyneScan.h.

◆ ROI_y_max

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

Definition at line 287 of file CObservationVelodyneScan.h.

◆ ROI_y_min

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

Definition at line 286 of file CObservationVelodyneScan.h.

◆ ROI_z_max

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

Definition at line 289 of file CObservationVelodyneScan.h.

◆ ROI_z_min

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

Definition at line 288 of file CObservationVelodyneScan.h.




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