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LaserFeatureExtractorCombined [LaserFeatureExtractor drivers, C++, Linux] An ACFR implementation of a laser feature extractor. More... Configuration The configuration documentation is split into sections for each feature type General The uncertainty of point features PointTargetRangeSd (float) [m] Default: 0.2 PointTargetBearingSd (float) [deg] Default: 5.0 Note these values need to take into account: Inherent sensor uncertainty Sensor offset uncertainty Timing uncertainty Reflectors ExtractReflectors (bool) Default: true Reflectors.MaxDeltaRangeNearReflector (float) [m] Don't extract a feature if there's a jump in the ranges > this threshold near the reflector. This rejects spurious reflectors that are partially-obscured behind a foreground obstacle. It also reduces the angles about which a reflector on a corner can be extracted. Default: 0.5 Reflectors.MaxDeltaRangeWithinReflector (float) [m] A reflector that includes a jump in range > this threshold will be ignored. Default: 0.3 Reflectors.MinBrightness (int) minimum intensity value to be considered a feature Default: 1 Reflectors.PFalsePositive (float) porbability of a false positive Default: 0.1 Reflectors.PTruePositive (float) probability of a true positive Default: 0.6 Foreground Points ExtractForegroundPoints (bool) Default: 0 FGPoints.MinForegroundWidth (float) [m] minimum width of poles/trees Default: 0.01 FGPoints.MaxForegroundWidth (float) [m] maximum width of poles and trees Default: 0.5 FGPoints.MinForegroundBackgroundSeparation (float) [m] how far the pole or tree must be from the background or other clutter Default: 2.0 FGPoints.PFalsePositive (double) Probability of detecting a false-positive foreground point Default: 0.4 FGPoints.PTruePositive (double) Probability of detecting a true-positive foreground point Default: 0.5 Lines ExtractLines (bool) Default: 1 Lines.MaxDeltaRangeInCluster (float) [m] Points are first clustered before fitting lines. A change in range greater than this breaks a cluster. Default: 0.5 Lines.MaxDeltaInLine (float) [m] For a line to be fit, the orthogonal distance of each point from the line must be less than this. Default: 0.1 Lines.MinPointsInLine (int) Self-explanatory Default: 6 Lines.MinLineLengthForLineFeature (float) [m] Self-explanatory Default: 1.0 Lines.MinLineLengthForVisibleEndpoints (float) [m] Self-explanatory Default: 1.0 Lines.PFalsePositive (double) Probability of detecting a false-positive line Default: 0.4 Lines.PTruePositive (double) Probability of detecting a line when it's really there Default: 0.6 Corners ExtractCorners (bool) Default: 1 PFalsePositive (double) Probability of detecting a false-positive corner Default: 0.2 PTruePositive (double) Probability of detecting a true-positive corner Default: 0.6 The corner extractor looks for intersecting lines. It relies on the line extractor, and is therefore affected by the line extractor's configuration (with the exception of the MinLineLength parameter: the corner detector will look for the intersection of smaller lines than the line detector is configured for). Doors ExtractDoors (bool) Default: 0 Doors.MinDoorWidth (double) Default: 0.9 Doors.MaxDoorWidth (double) Default: 1.2 Doors.MinDeltaRangeThruDoor (double) Default: 2.0 Doors.RangeSd (double) Default: 0.3 Doors.BearingSd (double) Default: 5.0 Doors.MinReturnsThruDoor (int) Default: 3 Doors.MinReturnsBesideDoor (int) Default: 2 Doors.MaxDeltaRangeWallBesideDoor (double) Default: 0.3 Authors Alex Brooks

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