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Agrarsense
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#include <LidarParameters.h>
Public Attributes | |
| int32 | Channels = 32 |
| float | Range = 120.0f |
| int32 | PointsPerSecond = 655360 |
| float | RotationFrequency = 10.0f |
| float | UpperFovLimit = 22.5f |
| float | LowerFovLimit = -22.5f |
| float | HorizontalFov = 360.0f |
| float | DistanceNoiseStdDev = 0.0f |
| float | LateralNoiseStdDev = 0.0f |
| bool | Semantic = false |
| bool | UseComplexCollisionTrace = true |
| bool | UseTerrainSnowHitAdjustment = true |
| bool | SendDataAtRotationFrequency = true |
| bool | SendDataToCombinedROSTopic = true |
| bool | SaveDataToDisk = false |
| bool | SendDataToROS = true |
| bool | VisualizePointcloud = true |
| bool | UseLidarNoiseModel = false |
| bool | SavePointcloudWithoutNoiseModel = false |
Definition at line 13 of file LidarParameters.h.
| int32 FLidarParameters::Channels = 32 |
Number of channels.
Definition at line 21 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters(), ALidar::ResetRecordedHits(), ALidar::SaveDataToDisk(), ALidar::SendData(), and ALidar::SimulateRaycastLidar().
| float FLidarParameters::DistanceNoiseStdDev = 0.0f |
This parameter controls the amount of variability or "spread" in the distance measurements due to noise. 0.0f means no noise at all. A higher value means more noise.
Definition at line 64 of file LidarParameters.h.
Referenced by ALidar::AddDistanceNoise(), ALidar::ChangeParameters(), and ALidar::SimulateRaycastLidar().
| float FLidarParameters::HorizontalFov = 360.0f |
Horizontal field of view in degrees.
Definition at line 57 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters(), and ALidar::SimulateRaycastLidar().
| float FLidarParameters::LateralNoiseStdDev = 0.0f |
This parameter controls the amount of lateral noise applied perpendicular to the LIDAR ray, affecting the accuracy in either horizontal or vertical direction. A value of 0.0f means no lateral noise, while higher values introduce more variability.
Definition at line 72 of file LidarParameters.h.
Referenced by ALidar::AddLateralNoise(), ALidar::ChangeParameters(), and ALidar::SimulateRaycastLidar().
| float FLidarParameters::LowerFovLimit = -22.5f |
Angle in degrees of the lowest laser.
Definition at line 51 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters().
| int32 FLidarParameters::PointsPerSecond = 655360 |
Number of points per second
Definition at line 33 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters(), ALidar::ResetRecordedHits(), and ALidar::SimulateRaycastLidar().
| float FLidarParameters::Range = 120.0f |
Max range in meters
Definition at line 27 of file LidarParameters.h.
Referenced by ALidar::SimulateRaycastLidar().
| float FLidarParameters::RotationFrequency = 10.0f |
Sensor rotation frequency / frame rate.
Definition at line 39 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters(), and ALidar::SimulateRaycastLidar().
| bool FLidarParameters::SaveDataToDisk = false |
Determines whether to save this lidar data to disk in ply format
Definition at line 112 of file LidarParameters.h.
Referenced by ALidar::SaveDataToDisk(), ALidar::SendData(), and ALidar::SimulateRaycastLidar().
| bool FLidarParameters::SavePointcloudWithoutNoiseModel = false |
Determines whether to save the point cloud without the Lidar noise model applied. You can set this to true if you want to compare original point cloud and point cloud with noise model applied.
Definition at line 140 of file LidarParameters.h.
Referenced by ALidar::ResetRecordedHits(), and ALidar::SimulateRaycastLidar().
| bool FLidarParameters::Semantic = false |
Determines whether this is Semantic Lidar, where each point is colored uniquely depending on the hit object.
Definition at line 79 of file LidarParameters.h.
Referenced by ALidar::SimulateRaycastLidar(), and ALidar::VisualizeLidarParticles().
| bool FLidarParameters::SendDataAtRotationFrequency = true |
Determines whether to send data at Lidar RotationFrequency (e.g., 10Hz) or every simulation frame. If set to false, sent/saved point clouds will be sliced instead of capturing a full lidar rotation.
Definition at line 100 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters().
| bool FLidarParameters::SendDataToCombinedROSTopic = true |
Determines whether to send this lidar data to combined ROS topic
Definition at line 106 of file LidarParameters.h.
Referenced by ALidar::SimulateRaycastLidar().
| bool FLidarParameters::SendDataToROS = true |
Determines whether to send this lidar data to ROS topic
Definition at line 118 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters().
| float FLidarParameters::UpperFovLimit = 22.5f |
Angle in degrees of the highest laser.
Definition at line 45 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters().
| bool FLidarParameters::UseComplexCollisionTrace = true |
Should Lidar linetraces use complex collision trace. Complex collision trace is more expensive but gives more accurate results.
Definition at line 86 of file LidarParameters.h.
Referenced by ALidar::SimulateRaycastLidar().
| bool FLidarParameters::UseLidarNoiseModel = false |
Determines whether to use snowfall Lidar noise model based on current WeatherParameters. This adds significant performance cost.
Definition at line 132 of file LidarParameters.h.
Referenced by ALidar::ShootLaser(), and ALidar::SimulateRaycastLidar().
| bool FLidarParameters::UseTerrainSnowHitAdjustment = true |
Determines whether to use linetrace terrain snow hit adjustment in the Lidar processing. Meaning should we simulate rough point where Lidar linetrace "hits" snow layer.
Definition at line 93 of file LidarParameters.h.
Referenced by ALidar::AddSnowTerrainAdjustment().
| bool FLidarParameters::VisualizePointcloud = true |
Determines whether to visualize this Lidar sensor with Niagara particle system. Note. Only visible on Spectator camera.
Definition at line 125 of file LidarParameters.h.
Referenced by ALidar::ChangeParameters(), and ALidar::VisualizeLidarParticles().
1.9.4