#include <pointcloudConvertHelper.hpp>

Static Public Member Functions
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)

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)

static void	horizontalBinning (const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, double angular_bin_size)

static void	filterOutliers (const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, double max_deviation_angle, unsigned min_neighbors=1)

static double	computeMaximumAngle (double angle_between_rays, double dist_ray_1, double dist_ray_2)

static void	verticalClipping (const MultilevelLaserScan &laser_scan, MultilevelLaserScan &filtered_laser_scan, const base::Angle &start_angle, const base::Angle &end_angle)

Member Function Documentation

double ConvertHelper::computeMaximumAngle	(	double	angle_between_rays,
		double	dist_ray_1,
		double	dist_ray_2
	)

static

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.

void ConvertHelper::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`
	)

static

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.

void ConvertHelper::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`
	)

static

The transformation will be interpolated between two given transformations.

void ConvertHelper::filterOutliers	(	const MultilevelLaserScan &	laser_scan,
		MultilevelLaserScan &	filtered_laser_scan,
		double	max_deviation_angle,
		unsigned	min_neighbors = `1`
	)

static

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

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

void ConvertHelper::horizontalBinning	(	const MultilevelLaserScan &	laser_scan,
		MultilevelLaserScan &	filtered_laser_scan,
		double	angular_bin_size
	)

static

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

laser_scan	input scan
filtered_laser_scan	output scan
angular_bin_size	is the horizontal bin size in radiant

void ConvertHelper::verticalClipping	(	const MultilevelLaserScan &	laser_scan,
		MultilevelLaserScan &	filtered_laser_scan,
		const base::Angle &	start_angle,
		const base::Angle &	end_angle
	)

static

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

laser_scan	input scan
filtered_laser_scan	output scan
start_angle
end_angle

The documentation for this class was generated from the following files:

/build/rock-master-18.09-drivers-velodyne-lidar-0.20171101/src/pointcloudConvertHelper.hpp
/build/rock-master-18.09-drivers-velodyne-lidar-0.20171101/src/pointcloudConvertHelper.cpp

Static Public Member Functions

Member Function Documentation