Detailed Description

Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()

Definition at line 31 of file CObservation3DRangeScan.h.

#include <mrpt/obs/CObservation3DRangeScan.h>

Public Member Functions
	T3DPointsProjectionParams ()=default

Public Attributes
bool	takeIntoAccountSensorPoseOnRobot {false}
	(Default: false) If false, local (sensor-centric) coordinates of points are generated. More...

const mrpt::poses::CPose3D *	robotPoseInTheWorld {nullptr}
	(Default: nullptr) Read takeIntoAccountSensorPoseOnRobot More...

bool	PROJ3D_USE_LUT {true}
	(Default:true) [Only used when `range_is_depth`=true] Whether to use a Look-up-table (LUT) to speed up the conversion. More...

bool	USE_SSE2 {true}
	(Default:true) If possible, use SSE2 optimized code. More...

bool	MAKE_ORGANIZED {false}
	(Default:false) set to true if you want an organized point cloud More...

uint8_t	decimation {1}
	(Default:1) If !=1, split the range image in blocks of DxD (D=decimation), and only generates one point per block, with the minimum valid range. More...

Constructor & Destructor Documentation

◆ T3DPointsProjectionParams()

mrpt::obs::T3DPointsProjectionParams::T3DPointsProjectionParams ( )

default

Member Data Documentation

◆ decimation

uint8_t mrpt::obs::T3DPointsProjectionParams::decimation {1}

(Default:1) If !=1, split the range image in blocks of DxD (D=decimation), and only generates one point per block, with the minimum valid range.

Definition at line 54 of file CObservation3DRangeScan.h.

Referenced by mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan3D(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ MAKE_ORGANIZED

bool mrpt::obs::T3DPointsProjectionParams::MAKE_ORGANIZED {false}

(Default:false) set to true if you want an organized point cloud

Definition at line 49 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto(), and mrpt::obs::detail::range2XYZ_LUT().

◆ PROJ3D_USE_LUT

bool mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT {true}

(Default:true) [Only used when range_is_depth=true] Whether to use a Look-up-table (LUT) to speed up the conversion.

It's thread safe in all situations except when you call this method from different threads and with different camera parameter matrices. In all other cases, it is a good idea to left it enabled.

Definition at line 45 of file CObservation3DRangeScan.h.

Referenced by fillSampleObs(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ robotPoseInTheWorld

const mrpt::poses::CPose3D* mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld {nullptr}

(Default: nullptr) Read takeIntoAccountSensorPoseOnRobot

Definition at line 39 of file CObservation3DRangeScan.h.

Referenced by mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ takeIntoAccountSensorPoseOnRobot

bool mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot {false}

(Default: false) If false, local (sensor-centric) coordinates of points are generated.

Otherwise, points are transformed with sensorPose. Furthermore, if provided, those coordinates are transformed with robotPoseInTheWorld

Definition at line 37 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), fillSampleObs(), mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan3D(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), and TEST().

◆ USE_SSE2

bool mrpt::obs::T3DPointsProjectionParams::USE_SSE2 {true}

(Default:true) If possible, use SSE2 optimized code.

Definition at line 47 of file CObservation3DRangeScan.h.

Referenced by fillSampleObs(), and mrpt::obs::detail::range2XYZ_LUT().