obstaclesdepth

Documentation

Overview

Package obstaclesdepth uses an underlying depth camera to fulfill GetObjectPointClouds, projecting its depth map to a point cloud, an then applying a point cloud clustering algorithm

Index

• type ObsDepthConfig

Types

type ObsDepthConfig

type ObsDepthConfig struct {
	resource.TriviallyValidateConfig
	MinPtsInPlane        int     `json:"min_points_in_plane"`
	MinPtsInSegment      int     `json:"min_points_in_segment"`
	MaxDistFromPlane     float64 `json:"max_dist_from_plane_mm"`
	ClusteringRadius     int     `json:"clustering_radius"`
	ClusteringStrictness float64 `json:"clustering_strictness"`
	AngleTolerance       float64 `json:"ground_angle_tolerance_degs"`
}

ObsDepthConfig specifies the parameters to be used for the obstacle depth service.