obstaclesdepth

Documentation

Overview

Package obstaclesdepth uses an underlying depth camera to fulfill GetObjectPointClouds, using the method outlined in (Manduchi, Roberto, et al. "Obstacle detection and terrain classification for autonomous off-road navigation." Autonomous robots 18 (2005): 81-102.)

Index

• type ObsDepthConfig
  • func (config *ObsDepthConfig) Validate(path string) ([]string, error)

Types

type ObsDepthConfig

type ObsDepthConfig struct {
	Hmin           float64 `json:"h_min_m"`
	Hmax           float64 `json:"h_max_m"`
	ThetaMax       float64 `json:"theta_max_deg"`
	ReturnPCDs     bool    `json:"return_pcds"`
	WithGeometries *bool   `json:"with_geometries"`
}

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

func (*ObsDepthConfig) Validate

func (config *ObsDepthConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.