MRPT  1.9.9
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mrpt::obs::T3DPointsTo2DScanParams Struct Reference

Detailed Description

Used in CObservation3DRangeScan::convertTo2DScan()

Definition at line 59 of file CObservation3DRangeScan.h.

#include <mrpt/obs/CObservation3DRangeScan.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 ( )

Definition at line 1297 of file CObservation3DRangeScan.cpp.

Member Data Documentation

◆ angle_inf

double mrpt::obs::T3DPointsTo2DScanParams::angle_inf

◆ 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 65 of file CObservation3DRangeScan.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}

◆ sensorLabel

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

The sensor label that will have the newly created observation.

Definition at line 62 of file CObservation3DRangeScan.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 80 of file CObservation3DRangeScan.h.

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

◆ z_max

double mrpt::obs::T3DPointsTo2DScanParams::z_max

◆ 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 69 of file CObservation3DRangeScan.h.

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




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