chrono::sensor::ChFilterLidarNoiseXYZI Class Reference

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

◆ ChFilterLidarNoiseXYZI()

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_rangeStandard deviation of the normal distribution applied to the distance measurement
stdev_v_angleStandard deviation of the normal distribution applied to the vertical angle
stdev_h_angleStandard deviation of the normal distribution applied to the horizontal angle
stdev_intensityStandard deviation of the normal distribution applied to the intensity measurement
nameString name of the filter

Member Function Documentation

◆ Apply()

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

Apply function.

Applies noise to lidar data.

Parameters
pSensorA pointer to the sensor on which the filter is attached.
bufferInOutA buffer that is passed into the filter.

Implements chrono::sensor::ChFilter.

◆ Initialize()

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

Initializes all data needed by the filter access apply function.

Parameters
pSensorA pointer to the sensor.

Implements chrono::sensor::ChFilter.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_sensor/filters/ChFilterLidarNoise.h
  • /builds/uwsbel/chrono/src/chrono_sensor/filters/ChFilterLidarNoise.cpp