mrpt::obs::CObservation3DRangeScan::unproject_LUT_t Struct Reference

Detailed Description

Look-up-table struct for unprojectInto()

Definition at line 592 of file CObservation3DRangeScan.h.

#include <mrpt/obs/CObservation3DRangeScan.h>

Public Attributes
mrpt::aligned_std_vector< float >	Kxs
	x,y,z: +X pointing forward (depth), +z up These doesn't account for the sensor pose. More...
mrpt::aligned_std_vector< float >	Kys
mrpt::aligned_std_vector< float >	Kzs
mrpt::aligned_std_vector< float >	Kxs_rot
	x,y,z: in the rotated frame of coordinates of the sensorPose. More...
mrpt::aligned_std_vector< float >	Kys_rot
mrpt::aligned_std_vector< float >	Kzs_rot

Member Data Documentation

Kxs

mrpt::aligned_std_vector<float> mrpt::obs::CObservation3DRangeScan::unproject_LUT_t::Kxs

x,y,z: +X pointing forward (depth), +z up These doesn't account for the sensor pose.

Definition at line 597 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::get_unproj_lut().

Kxs_rot

mrpt::aligned_std_vector<float> mrpt::obs::CObservation3DRangeScan::unproject_LUT_t::Kxs_rot

x,y,z: in the rotated frame of coordinates of the sensorPose.

So, sensed points are directly measured_range(or depth) times this vector, plus the translation (no rotation!) of the sensor pose.

Definition at line 603 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::range2XYZ_LUT().

Kys

mrpt::aligned_std_vector<float> mrpt::obs::CObservation3DRangeScan::unproject_LUT_t::Kys

Definition at line 597 of file CObservation3DRangeScan.h.

Kys_rot

mrpt::aligned_std_vector<float> mrpt::obs::CObservation3DRangeScan::unproject_LUT_t::Kys_rot

Definition at line 603 of file CObservation3DRangeScan.h.

Kzs

mrpt::aligned_std_vector<float> mrpt::obs::CObservation3DRangeScan::unproject_LUT_t::Kzs

Definition at line 597 of file CObservation3DRangeScan.h.

Kzs_rot

mrpt::aligned_std_vector<float> mrpt::obs::CObservation3DRangeScan::unproject_LUT_t::Kzs_rot

Definition at line 603 of file CObservation3DRangeScan.h.