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PointCloudToField

PointCloudToField(name: str, field_shape: tuple, origin: tuple=_origin, field_units_per_meter: tuple=_field_units_per_meter)

Description

Converts a 3D PointCloud into a 3D field like representation (Nx, Ny, Nz).

Parameters-

  • field_shape : tuple(Nx,Ny,Nz)
  • 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)

Slots-

  • in0 : jnp.ndarray((N,3))
  • out0 : jnp.ndarray(field_shape)

Import

from juniper.robotics import PointCloudToField