se::LeicaLidar::Config Struct Reference

#include <leica_lidar.hpp>

Inheritance diagram for se::LeicaLidar::Config:

Collaboration diagram for se::LeicaLidar::Config:

Public Member Functions
void	readYaml (const std::string &filename)
	Reads the struct members from the "sensor" node of a YAML file.
Config	operator/ (const float downsampling_factor) const
Public Member Functions inherited from se::SensorBase< DerivedT >::Config
void	readYaml (const std::string &filename)
	Reads the struct members from the "sensor" node of a YAML file.
Config	operator/ (const float downsampling_factor) const

Public Attributes
float	elevation_resolution_angle_ = 1.0f
	The actual sensor resolution in angular directions (in degrees).
float	azimuth_resolution_angle_ = 1.0f
Public Attributes inherited from se::SensorBase< DerivedT >::Config
int	width = 0
	The width of images produced by the sensor in pixels.
int	height = 0
	The height of images produced by the sensor in pixels.
float	near_plane = 0.01f
	The sensor's near plane in metres.
float	far_plane = 10.0f
	The sensor's far plane in metres.
Eigen::Isometry3f	T_BS = Eigen::Isometry3f::Identity()
	The transformation from the sensor frame S to the body frame B.
std::vector< float >	pixel_voxel_ratio_per_scale = {1.5f, 3.0f, 6.0f}
	The pixel-size to voxel-size ratio thresholds, in ascendig order and in physical coordinates, for computing the integration scale.

Member Function Documentation

readYaml()

void se::LeicaLidar::Config::readYaml

(

const std::string &

filename

)

Reads the struct members from the "sensor" node of a YAML file.

Members not present in the YAML file aren't modified.

Exceptions

std::invalid_argument

Throws std::invalid_argument if the number of beam elevation or azimuth angles is different than the sensor height.

operator/()

Config se::LeicaLidar::Config::operator/

(

const float

downsampling_factor

)

const

Member Data Documentation

elevation_resolution_angle_

float se::LeicaLidar::Config::elevation_resolution_angle_ = 1.0f

The actual sensor resolution in angular directions (in degrees).

It is needed for ray based integration to decide the integration scale.

azimuth_resolution_angle_

float se::LeicaLidar::Config::azimuth_resolution_angle_ = 1.0f

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The documentation for this struct was generated from the following file:

• include/se/sensor/leica_lidar.hpp