(self, device, top_size=[64, 64], z_range=[-100.0, 100.0], sph_size=[64, 64], fov_range=[-90, 90], max_dis=30, sph_ocu=16, visib_thresh=3.0, visib_radius=25)
| 48 | """Class that contains LaserScan with x,y,z,r""" |
| 49 | |
| 50 | def __init__(self, device, top_size=[64, 64], z_range=[-100.0, 100.0], sph_size=[64, 64], fov_range=[-90, 90], max_dis=30, sph_ocu=16, visib_thresh=3.0, visib_radius=25): |
| 51 | #! For top down view |
| 52 | self.proj_H = (int)(top_size[0]/2) |
| 53 | self.proj_W = (int)(top_size[1]/2) |
| 54 | self.proj_Z_min = z_range[0] |
| 55 | self.proj_Z_max = z_range[1] |
| 56 | |
| 57 | self.device = device |
| 58 | |
| 59 | #! For spherical view |
| 60 | self.sph_H = sph_size[0] |
| 61 | self.sph_W = sph_size[1] |
| 62 | self.sph_down = fov_range[0] |
| 63 | self.sph_up = fov_range[1] |
| 64 | |
| 65 | #! Set sph occlusion factor |
| 66 | self.sph_ocu = sph_ocu |
| 67 | |
| 68 | #! For activate range |
| 69 | self.max_dis = max_dis |
| 70 | |
| 71 | self.visib_thresh = visib_thresh |
| 72 | self.visib_radius = visib_radius |
| 73 | |
| 74 | def proj(self, pt): |
| 75 | sph_proj = self.do_sph_projection(pt) |
nothing calls this directly
no outgoing calls
no test coverage detected