Struct PointcloudInputHandlerConfig
Defined in File pointcloud_input_handler.h
Inheritance Relationships
Base Type
public wavemap::ConfigBase< PointcloudInputHandlerConfig, 11, PointcloudTopicType >
(Template Struct ConfigBase)
Struct Documentation
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struct PointcloudInputHandlerConfig : public wavemap::ConfigBase<PointcloudInputHandlerConfig, 11, PointcloudTopicType>
Config struct for the pointcloud input handler.
Public Functions
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inline operator InputHandlerConfig() const
Public Members
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PointcloudTopicType topic_type = PointcloudTopicType::kPointCloud2
Message type of the ROS topic to subscribe to.
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Seconds<FloatingPoint> processing_retry_period = 0.05f
Time period used to control the rate at which to retry getting the sensor pose when ROS TF lookups fail.
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Seconds<FloatingPoint> max_wait_for_pose = 1.f
Maximum amount of time to wait for the sensor pose to become available.
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std::string sensor_frame_id
The frame_id to use to look up the sensor pose using ROS TFs.
Note that setting this is optional, when left blank the header.frame_id of the measurement’s msg is used.
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Seconds<FloatingPoint> time_offset = 0.f
Time offset to apply to the header.stamp of the measurement’s msg when looking up its pose using ROS TFs.
Can be used when the time offset is known (e.g. through calibration) but not corrected by the sensor’s driver.
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bool undistort_motion = false
Whether to undistort each pointcloud based on the sensor’s motion while it was captured.
We strongly recommend turning this on, unless the robot’s odometry is very jerky or the sensor’s driver already performs motion undistortion.
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int num_undistortion_interpolation_intervals_per_cloud = 100
Number of intermediate poses to sample from ROS TFs when performing motion undistortion.
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inline operator InputHandlerConfig() const