Detailed Description
Defines point cloud accumulator parameters.
- Note
- This parameter data struct can be set to collect subsets of the original raw data. For rotational lidar, accumulator sets rotational angle of interest and Euclidean distance of interest to collect. User can also specify
filterWindowSizeto pick one data point in the window. The variablefilterWindowSizeis expected to be the power of 2 whose exponent ranges from 0 to 4. It reduces the jittering of the Lidar beam firing in the horizontal direction when window size is larger than 1.
Definition at line 51 of file PointCloudAccumulator.h.
Data Fields | |
| dwMemoryType | memoryType |
| The module will process lidar packets and output to cuda memory if memoryType = DW_MEMORY_CUDA. More... | |
| uint32_t | outputFormats |
| Combination of desired dwPointCloudFormat flags. More... | |
| uint32_t | filterWindowSize |
| The horizontal smoothing filter window size. More... | |
| float32_t | minAngleDegree |
| Starting angle in degree. More... | |
| float32_t | maxAngleDegree |
| Ending angle in degree. More... | |
| float32_t | minDistanceMeter |
| Starting distance in meter. More... | |
| float32_t | maxDistanceMeter |
| Ending distance in degree. More... | |
| bool | enableMotionCompensation |
| Setting it to true will correct the distortions caused by lidar sensor motion. More... | |
| bool | organized |
| If user sets it to true, the module will process the lidar packets such that the output data is aligned on 3D grid. More... | |
| bool | enableZeroCrossDetection |
| If set to true end of spin is detected based on angle of incoming points otherwise on number of incoming packets. More... | |
| bool | outputInRigCoordinates |
| If true output points are in rig coordinates. More... | |
| dwEgomotionConstHandle_t | egomotion |
| Handle to egomotion module. More... | |
| dwTransformation3f | sensorTransformation |
| Transformation aligns the lidar sensor with the platform that produces the egomotion. More... | |
Field Documentation
◆ egomotion
| dwEgomotionConstHandle_t dwPointCloudAccumulatorParams::egomotion |
Handle to egomotion module.
Definition at line 72 of file PointCloudAccumulator.h.
◆ enableMotionCompensation
| bool dwPointCloudAccumulatorParams::enableMotionCompensation |
Setting it to true will correct the distortions caused by lidar sensor motion.
Definition at line 65 of file PointCloudAccumulator.h.
◆ enableZeroCrossDetection
| bool dwPointCloudAccumulatorParams::enableZeroCrossDetection |
If set to true end of spin is detected based on angle of incoming points otherwise on number of incoming packets.
Definition at line 68 of file PointCloudAccumulator.h.
◆ filterWindowSize
| uint32_t dwPointCloudAccumulatorParams::filterWindowSize |
The horizontal smoothing filter window size.
Definition at line 59 of file PointCloudAccumulator.h.
◆ maxAngleDegree
| float32_t dwPointCloudAccumulatorParams::maxAngleDegree |
Ending angle in degree.
Definition at line 61 of file PointCloudAccumulator.h.
◆ maxDistanceMeter
| float32_t dwPointCloudAccumulatorParams::maxDistanceMeter |
Ending distance in degree.
Definition at line 63 of file PointCloudAccumulator.h.
◆ memoryType
| dwMemoryType dwPointCloudAccumulatorParams::memoryType |
The module will process lidar packets and output to cuda memory
if memoryType = DW_MEMORY_CUDA.
The module will process
lidar packets and output to cpu memory if memoryType = DW_MEMORY_CPU
Definition at line 53 of file PointCloudAccumulator.h.
◆ minAngleDegree
| float32_t dwPointCloudAccumulatorParams::minAngleDegree |
Starting angle in degree.
Definition at line 60 of file PointCloudAccumulator.h.
◆ minDistanceMeter
| float32_t dwPointCloudAccumulatorParams::minDistanceMeter |
Starting distance in meter.
Definition at line 62 of file PointCloudAccumulator.h.
◆ organized
| bool dwPointCloudAccumulatorParams::organized |
If user sets it to true, the module will process the lidar packets such that the output data is aligned on 3D grid.
Definition at line 66 of file PointCloudAccumulator.h.
◆ outputFormats
| uint32_t dwPointCloudAccumulatorParams::outputFormats |
Combination of desired dwPointCloudFormat flags.
Definition at line 57 of file PointCloudAccumulator.h.
◆ outputInRigCoordinates
| bool dwPointCloudAccumulatorParams::outputInRigCoordinates |
If true output points are in rig coordinates.
Definition at line 70 of file PointCloudAccumulator.h.
◆ sensorTransformation
| dwTransformation3f dwPointCloudAccumulatorParams::sensorTransformation |
Transformation aligns the lidar sensor with the platform that produces the egomotion.
Definition at line 73 of file PointCloudAccumulator.h.
The documentation for this struct was generated from the following file: