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FieldToPointCloud

FieldToPointCloud(name: str, origin: tuple=_origin, field_units_per_meter: tuple=_field_units_per_meter, threshold: float=_threshold, N_pt=_N_pt)

Description

Converts a 3D field into a Point Cloud.

Parameters-

  • origin [m] (optional) : tuple(ox,oy,oz)
    • Origin of field with respect to origin of vector space.
    • Default = (0,0,0)
  • field_units_per_meter [1/m] (optional) : tuple(dx,dy,dz)
    • Number of field bins per meter.
    • Default = (100,100,100)
  • threshold (optional) : float
    • Only field units pircing the threshold are converted to vectors, all other are mapped to 0.
    • Default = 0.9
  • N_pt (optional) : int
    • The number of points in the cloud. 0-vectors are returned if less field points pierce the threshold.
    • Default = FieldSize

Slots

  • in0 : jnp.array((Nx,Ny,Nz))
  • out0 : jnp.array((NxNyNz,3))

Import

from juniper.robotics import FieldToPointCloud