Description

A filter that adds noise based on depth and intensity given data in point cloud format.

#include <ChFilterLidarNoise.h>

Inheritance diagram for chrono::sensor::ChFilterLidarNoiseXYZI:

Collaboration diagram for chrono::sensor::ChFilterLidarNoiseXYZI:

Public Member Functions
	ChFilterLidarNoiseXYZI (float stdev_range, float stdev_v_angle, float stdev_h_angle, float stdev_intensity, std::string name={})
	Class constructor. More...

virtual void	Apply (std::shared_ptr< ChSensor > pSensor, std::shared_ptr< SensorBuffer > &bufferInOut)
	Apply function. More...

virtual void	Initialize (std::shared_ptr< ChSensor > pSensor)
	Initializes all data needed by the filter access apply function. More...

Public Member Functions inherited from chrono::sensor::ChFilter
virtual	~ChFilter ()
	Virtual class desctructor.

std::string &	Name ()
	Accesses the name of the filter. More...

Additional Inherited Members
Protected Member Functions inherited from chrono::sensor::ChFilter
	ChFilter (std::string name)
	protected constructor for the filter which requires a name as input. More...

Constructor & Destructor Documentation

chrono::sensor::ChFilterLidarNoiseXYZI::ChFilterLidarNoiseXYZI	(	float	stdev_range,
		float	stdev_v_angle,
		float	stdev_h_angle,
		float	stdev_intensity,
		std::string	name = `{}`
	)

Class constructor.

Parameters

stdev_range	Standard deviation of the normal distribution applied to the distance measurement
stdev_v_angle	Standard deviation of the normal distribution applied to the vertical angle
stdev_h_angle	Standard deviation of the normal distribution applied to the horizontal angle
stdev_intensity	Standard deviation of the normal distribution applied to the intensity measurement
name	String name of the filter

void chrono::sensor::ChFilterLidarNoiseXYZI::Apply	(	std::shared_ptr< ChSensor >	pSensor,
		std::shared_ptr< SensorBuffer > &	bufferInOut
	)

virtual

Apply function.

Applies noise to lidar data.

Parameters

pSensor	A pointer to the sensor on which the filter is attached.
bufferInOut	A buffer that is passed into the filter.

void chrono::sensor::ChFilterLidarNoiseXYZI::Initialize ( std::shared_ptr< ChSensor > pSensor )

virtual

Initializes all data needed by the filter access apply function.

Parameters

pSensor A pointer to the sensor.

The documentation for this class was generated from the following files: