Struct CObservationVelodyneScan::TGeneratePointCloudParameters

• Defined in File CObservationVelodyneScan.h

Nested Relationships

This struct is a nested type of Class CObservationVelodyneScan.

Struct Documentation

struct TGeneratePointCloudParameters

Public Functions

TGeneratePointCloudParameters()

Public Members

double minAzimuth_deg = {.0}

Minimum azimuth, in degrees (Default=0). Points will be generated only the the area of interest [minAzimuth, maxAzimuth]

double maxAzimuth_deg = {360.}

Minimum azimuth, in degrees (Default=360). Points will be generated only the the area of interest [minAzimuth, maxAzimuth]

float 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).

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

See also

filterByROI

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

See also

filterBynROI

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.

bool filterByROI = {false}

Enable ROI filter (Default:false): add points inside a given 3D box

bool filterBynROI = {false}

Enable nROI filter (Default:false): do NOT add points inside a given 3D box

bool filterOutIsolatedPoints = {false}

(Default:false) Simple filter to remove spurious returns (e.g. Sun reflected on large water extensions)

bool dualKeepStrongest = {true}

(Default:true) In VLP16 dual mode, keep both or just one of the returns.

bool dualKeepLast = {true}

bool generatePerPointTimestamp = {false}

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

bool generatePerPointAzimuth = {false}

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

bool generatePointsForLaserID = {false}

(Default:false) If true, populate pointsForLaserID