conscience_core::lidar::directions Namespace Reference

Classes
struct	CscAvailableDirection
struct	VoxelAccum

Functions
double	estimateFreeDistanceForLidarScan (double directionYawRads, const mrpt::obs::CObservation2DRangeScan &scan, double entityWidthMeters, double entityLengthMeters, double minClusterDistanceMeters, int minClusterSize, double maxDepthMeters)
optional< pair< int, double > >	getBestDirectionForScan (CObservation2DRangeScan *scan, const vector< CscAvailableDirection > &authorizedDirections, double entityWidth, double entityLength, map< int, double > *computedDirections)
void	saveScanWithBestDirectionAsPng (const mrpt::obs::CObservation2DRangeScan &scan, double bestYaw, const std::string &bestDirName, const fs::path &filename, double entityWidth, double entityLength)
double	cmToMeters (double v)
int	voxelIndex (double v, double voxelSizeMeters)
double	estimateFreeDistanceFrontMetersForLidarScan3d (const LidarValuesSnapshot &scan, const CscSize3d &entitySizeCm, double voxelSizeMeters, int minVoxelPointCount, double maxDepthMeters, double minObstacleYMeters, double maxObstacleYMeters)

Variables
struct CSC_DLL_IMPORTEXPORT	CscAvailableDirection
static const CscAvailableDirection	AVAILABLE_DIRECTION_FORWARD = {0.0, "forward"}
static const CscAvailableDirection	AVAILABLE_DIRECTION_LEFT = {M_PI_2, "left"}
static const CscAvailableDirection	AVAILABLE_DIRECTION_RIGHT = {-M_PI_2, "right"}
static const CscAvailableDirection	AVAILABLE_DIRECTION_BACK = {M_PI, "back"}
static const vector< CscAvailableDirection >	AVAILABLE_ALL_DIRECTIONS

Function Documentation

cmToMeters()

double conscience_core::lidar::directions::cmToMeters

(

double

v

)

estimateFreeDistanceForLidarScan()

double conscience_core::lidar::directions::estimateFreeDistanceForLidarScan	(	double	directionYawRads,
		const mrpt::obs::CObservation2DRangeScan &	scan,
		double	entityWidthMeters,
		double	entityLengthMeters,
		double	minClusterDistanceMeters,
		int	minClusterSize,
		double	maxDepthMeters
	)

estimateFreeDistanceFrontMetersForLidarScan3d()

double conscience_core::lidar::directions::estimateFreeDistanceFrontMetersForLidarScan3d	(	const LidarValuesSnapshot &	scan,
		const CscSize3d &	entitySizeCm,
		double	voxelSizeMeters,
		int	minVoxelPointCount,
		double	maxDepthMeters,
		double	minObstacleYMeters,
		double	maxObstacleYMeters = std::numeric_limits< double >::infinity()
	)

Returns free distance in front of the robot.

Coordinates:

• x: front
• y: up
• z: right

Corridor:

• x >= 0
• abs(z) <= entitySize.z / 2
• y is filtered with minObstacleY/maxObstacleY

Ground handling:

• points below minObstacleYMeters are ignored
• for a robot on flat ground with y=0 near wheel contact level, typical minObstacleYMeters = 0.03 to 0.08

Voxel rule:

• points are accumulated in 3D voxels
• a voxel becomes an obstacle when point count >= minVoxelPointCount
• nearest obstacle voxel gives the free distance

Result:

• nearestObstacleX - entityLength / 2
• clamped to [0, maxDepthMeters]

getBestDirectionForScan()

optional< pair< int, double > > conscience_core::lidar::directions::getBestDirectionForScan	(	CObservation2DRangeScan *	scan,
		const vector< CscAvailableDirection > &	authorizedDirections,
		double	entityWidth,
		double	entityLength,
		map< int, double > *	computedDirections
	)

saveScanWithBestDirectionAsPng()

void conscience_core::lidar::directions::saveScanWithBestDirectionAsPng	(	const mrpt::obs::CObservation2DRangeScan &	scan,
		double	bestYaw,
		const std::string &	bestDirName,
		const fs::path &	filename,
		double	entityWidth,
		double	entityLength
	)

voxelIndex()

int conscience_core::lidar::directions::voxelIndex	(	double	v,
		double	voxelSizeMeters
	)

Variable Documentation

AVAILABLE_ALL_DIRECTIONS

const vector<CscAvailableDirection> conscience_core::lidar::directions::AVAILABLE_ALL_DIRECTIONS

static

Initial value:

= {
    AVAILABLE_DIRECTION_FORWARD,
    AVAILABLE_DIRECTION_LEFT,
    AVAILABLE_DIRECTION_RIGHT,
    AVAILABLE_DIRECTION_BACK}

AVAILABLE_DIRECTION_BACK

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_BACK = {M_PI, "back"}

static

AVAILABLE_DIRECTION_FORWARD

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_FORWARD = {0.0, "forward"}

static

AVAILABLE_DIRECTION_LEFT

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_LEFT = {M_PI_2, "left"}

static

AVAILABLE_DIRECTION_RIGHT

const CscAvailableDirection conscience_core::lidar::directions::AVAILABLE_DIRECTION_RIGHT = {-M_PI_2, "right"}

static

CscAvailableDirection

struct CSC_DLL_IMPORTEXPORT conscience_core::lidar::directions::CscAvailableDirection