struct mrpt::obs::CObservation3DRangeScan::unproject_LUT_t

Overview

Look-up-table struct for unprojectInto()

#include <mrpt/obs/CObservation3DRangeScan.h>

struct unproject_LUT_t
{
    // fields

    mrpt::aligned_std_vector<float> Kxs;
    mrpt::aligned_std_vector<float> Kys;
    mrpt::aligned_std_vector<float> Kzs;
    mrpt::aligned_std_vector<float> Kxs_rot;
    mrpt::aligned_std_vector<float> Kys_rot;
    mrpt::aligned_std_vector<float> Kzs_rot;
};

Fields

mrpt::aligned_std_vector<float> Kxs

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

mrpt::aligned_std_vector<float> 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.