#include <pointcloudConvertHelper.hpp>
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| static void | convertScanToPointCloud (const MultilevelLaserScan &laser_scan, std::vector< Eigen::Vector3d > &points, const Eigen::Affine3d &transform=Eigen::Affine3d::Identity(), bool skip_invalid_points=true, unsigned int skip_n_horizontal_scans=0, std::vector< float > *remission_values=NULL) |
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| static void | convertScanToPointCloud (const MultilevelLaserScan &laser_scan, std::vector< Eigen::Vector3d > &points, const Eigen::Affine3d &transform_start, const Eigen::Affine3d &transform_end, bool skip_invalid_points=true, unsigned int skip_n_horizontal_scans=0, std::vector< float > *remission_values=NULL) |
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| static void | horizontalBinning (const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, double angular_bin_size) |
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| static void | filterOutliers (const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, double max_deviation_angle, unsigned min_neighbors=1) |
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| static double | computeMaximumAngle (double angle_between_rays, double dist_ray_1, double dist_ray_2) |
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| static void | verticalClipping (const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, const base::Angle &start_angle, const base::Angle &end_angle) |
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◆ computeMaximumAngle()
| double ConvertHelper::computeMaximumAngle |
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double |
angle_between_rays, |
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double |
dist_ray_1, |
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double |
dist_ray_2 |
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It computes the angle alpha if (a) is the longer ray and (b) is the shorter ray. In that case the angle alpha is always the maximum angle in the triangle build by the origin and the tips of both rays.
◆ convertScanToPointCloud() [1/2]
| void ConvertHelper::convertScanToPointCloud |
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const MultilevelLaserScan & |
laser_scan, |
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std::vector< Eigen::Vector3d > & |
points, |
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const Eigen::Affine3d & |
transform = Eigen::Affine3d::Identity(), |
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bool |
skip_invalid_points = true, |
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unsigned int |
skip_n_horizontal_scans = 0, |
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std::vector< float > * |
remission_values = NULL |
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) |
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Converts the multilevel laser scan into a point cloud according to the given transformation matrix. To speed up the process invalid points and a set of horizontal scans can be skipped. Skipping horizontal scans will result in loosing information. It will allways skip n horizontal scans and than convert one and so on.
◆ convertScanToPointCloud() [2/2]
| void ConvertHelper::convertScanToPointCloud |
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const MultilevelLaserScan & |
laser_scan, |
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std::vector< Eigen::Vector3d > & |
points, |
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const Eigen::Affine3d & |
transform_start, |
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const Eigen::Affine3d & |
transform_end, |
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bool |
skip_invalid_points = true, |
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unsigned int |
skip_n_horizontal_scans = 0, |
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std::vector< float > * |
remission_values = NULL |
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) |
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The transformation will be interpolated between two given transformations.
◆ filterOutliers()
This method filters outliers according to the maximum angle to each of their four (or three) direct neighbors. It mainly aims to remove outliers which arise after edges and have therefore a high angle to the next neighbor.
- Parameters
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| laser_scan | input scan |
| filtered_laser_scan | output scan |
| max_deviation_angle | the angle to a valid neighbor should be lower than this angle |
| min_neighbors | minimum number of valid neighbors |
◆ horizontalBinning()
Provides a binning of the horizontal scans of every vertical plane. The scans inside a bin are filtered related to the standard deviation. The average of the filtered scans is used to represent the new scan.
- Parameters
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| laser_scan | input scan |
| filtered_laser_scan | output scan |
| angular_bin_size | is the horizontal bin size in radiant |
◆ verticalClipping()
Clips a sub vertical range out of the scan. To vertical angles: Zero is in front, negative values go upwards and possitive values go downwards. The start angle has smaller than the end angle.
- Parameters
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| laser_scan | input scan |
| filtered_laser_scan | output scan |
| start_angle | |
| end_angle | |
The documentation for this class was generated from the following files:
