MRPT  2.0.4
T3DPointsProjectionParams.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
11 #include <mrpt/poses/CPose3D.h>
12 #include <cstdint>
13 #include <string>
14 
15 namespace mrpt::obs
16 {
17 /** Used in CObservation3DRangeScan::unprojectInto()
18  * \ingroup mrpt_obs_grp
19  */
21 {
22  /** (Default: false) If false, local (sensor-centric) coordinates of points
23  * are generated. Otherwise, points are transformed with \a sensorPose.
24  * Furthermore, if provided, those coordinates are transformed with \a
25  * robotPoseInTheWorld */
27  /** (Default: nullptr) Read takeIntoAccountSensorPoseOnRobot */
29 
30  /** (Default:true) If possible, use SSE2 optimized code. */
31  bool USE_SSE2 = true;
32 
33  /** (Default:false) set to true if you want an organized point cloud */
34  bool MAKE_ORGANIZED = false;
35 
36  /** (Default:1) If !=1, split the range image in blocks of DxD
37  * (D=decimation), and only generates one point per block, with the minimum
38  * valid range. */
39  uint8_t decimation = 1;
40 
41  /** If empty, the main rangeImage layer will be unprojected. Otherwise, put
42  * here the name of the layer you want to unproject, from those available in
43  * rangeImageOtherLayers. */
44  std::string layer;
45 
46  T3DPointsProjectionParams() = default;
47 };
48 
49 } // namespace mrpt::obs
uint8_t decimation
(Default:1) If !=1, split the range image in blocks of DxD (D=decimation), and only generates one poi...
const mrpt::poses::CPose3D * robotPoseInTheWorld
(Default: nullptr) Read takeIntoAccountSensorPoseOnRobot
This namespace contains representation of robot actions and observations.
bool USE_SSE2
(Default:true) If possible, use SSE2 optimized code.
bool MAKE_ORGANIZED
(Default:false) set to true if you want an organized point cloud
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:85
Used in CObservation3DRangeScan::unprojectInto()
std::string layer
If empty, the main rangeImage layer will be unprojected.
bool takeIntoAccountSensorPoseOnRobot
(Default: false) If false, local (sensor-centric) coordinates of points are generated.



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