raisin::lidar_grid::RasterBounds

struct · #include <rayrai/LidarSweepGrid.hpp>

Angular edges of a raster whose pixel centres are the lidar sample angles. OpenGL samples at pixel centres. Expand the raster bounds by half a sample so those centres land on the exact CPU yaw/pitch sample angles.

Public attributes

firstEdge

double firstEdge

Angle of the first pixel's outer edge.

lastEdge

double lastEdge

Angle of the last pixel's outer edge.