MRPT  2.0.4
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mrpt::obs::T3DPointsProjectionParams Struct Reference

Detailed Description

Used in CObservation3DRangeScan::unprojectInto()

Definition at line 20 of file T3DPointsProjectionParams.h.

#include <mrpt/obs/T3DPointsProjectionParams.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::CPose3DrobotPoseInTheWorld = nullptr
 (Default: nullptr) Read takeIntoAccountSensorPoseOnRobot 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...
 
std::string layer
 If empty, the main rangeImage layer will be unprojected. 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 39 of file T3DPointsProjectionParams.h.

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

◆ layer

std::string mrpt::obs::T3DPointsProjectionParams::layer

If empty, the main rangeImage layer will be unprojected.

Otherwise, put here the name of the layer you want to unproject, from those available in rangeImageOtherLayers.

Definition at line 44 of file T3DPointsProjectionParams.h.

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

◆ MAKE_ORGANIZED

bool mrpt::obs::T3DPointsProjectionParams::MAKE_ORGANIZED = false

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

Definition at line 34 of file T3DPointsProjectionParams.h.

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

◆ robotPoseInTheWorld

const mrpt::poses::CPose3D* mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld = nullptr

(Default: nullptr) Read takeIntoAccountSensorPoseOnRobot

Definition at line 28 of file T3DPointsProjectionParams.h.

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

◆ 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 26 of file T3DPointsProjectionParams.h.

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

◆ USE_SSE2

bool mrpt::obs::T3DPointsProjectionParams::USE_SSE2 = true

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

Definition at line 31 of file T3DPointsProjectionParams.h.

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




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