MRPT  2.0.4
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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.




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