conscience_core::lidar::CscSlamEngine::MapToImageParams Struct Reference

#include <CscSlamEngine.h>

Public Attributes
optional< TPose2D >	robotPose = nullopt
map< TPoint2D, Vec3 >	dots
map< TPoint2D, Vec3 >	crosses
vector< TPose2D >	path
vector< CscSlamEngine::PhantomCluster >	clusters
vector< CscSlamEngine::PhantomClusterTracked >	clustersTracked
vector< uint8_t >	cellsVisibility
const CObservation2DRangeScan *	lidarScan = nullptr

Member Data Documentation

cellsVisibility

vector<uint8_t> conscience_core::lidar::CscSlamEngine::MapToImageParams::cellsVisibility

if not empty -> invisible cells will be black

clusters

vector<CscSlamEngine::PhantomCluster> conscience_core::lidar::CscSlamEngine::MapToImageParams::clusters

clusters to be highlighted in image. Cluster's color will depend on its ratio / duplication certitude

See also

CscSlamEngine::PhantomCluster

clustersTracked

vector<CscSlamEngine::PhantomClusterTracked> conscience_core::lidar::CscSlamEngine::MapToImageParams::clustersTracked

crosses

map<TPoint2D, Vec3> conscience_core::lidar::CscSlamEngine::MapToImageParams::crosses

A list of crosses to be drawn, with their color

dots

map<TPoint2D, Vec3> conscience_core::lidar::CscSlamEngine::MapToImageParams::dots

lidarScan

const CObservation2DRangeScan* conscience_core::lidar::CscSlamEngine::MapToImageParams::lidarScan = nullptr

set to a lidar scan to print it in resulting image

path

vector<TPose2D> conscience_core::lidar::CscSlamEngine::MapToImageParams::path

current entity's path to be drawn

robotPose

optional<TPose2D> conscience_core::lidar::CscSlamEngine::MapToImageParams::robotPose = nullopt

current robot's pose. If empty, will be retrieved using getRobotPose()

See also

getRobotPose()

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

• Lidar/CscSlamEngine.h