LidarParameters.h

Go to the documentation of this file.

// Copyright (c) 2023 FrostBit Software Lab at the Lapland University of Applied Sciences
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "LidarNoiseModel.h"
 
#include "LidarParameters.generated.h"
 
USTRUCT(Blueprintable)
struct AGRARSENSE_API FLidarParameters
{
    GENERATED_BODY()
 
    
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    int32 Channels = 32;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float Range = 120.0f;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    int32 PointsPerSecond = 655360;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float RotationFrequency = 10.0f;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float UpperFovLimit = 22.5f;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float LowerFovLimit = -22.5f;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float HorizontalFov = 360.0f;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float DistanceNoiseStdDev = 0.0f;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    float LateralNoiseStdDev = 0.0f;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool Semantic = false;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool UseComplexCollisionTrace = true;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool UseTerrainSnowHitAdjustment = true;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool SendDataAtRotationFrequency = true;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool SendDataToCombinedROSTopic = true;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool SaveDataToDisk = false;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool SendDataToROS = true;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool VisualizePointcloud = true;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool UseLidarNoiseModel = false;
 
    UPROPERTY(EditAnywhere, BlueprintReadWrite)
    bool SavePointcloudWithoutNoiseModel = false;
};