struct mrpt::obs::T3DPointsProjectionParams
Used in CObservation3DRangeScan::unprojectInto()
#include <mrpt/obs/T3DPointsProjectionParams.h> struct T3DPointsProjectionParams { // fields bool takeIntoAccountSensorPoseOnRobot = false; std::optional<mrpt::poses::CPose3D> robotPoseInTheWorld = std::nullopt; bool USE_SSE2 = true; bool MAKE_ORGANIZED = false; uint8_t decimation = 1; std::string layer; bool onlyPointsWithIntensityColor = false; // construction T3DPointsProjectionParams(); };
Fields
bool 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
std::optional<mrpt::poses::CPose3D> robotPoseInTheWorld = std::nullopt
(Default: none) Read takeIntoAccountSensorPoseOnRobot
bool USE_SSE2 = true
(Default:true) If possible, use SSE2 optimized code.
bool MAKE_ORGANIZED = false
(Default:false) set to true if you want an organized point cloud
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.
std::string 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.
bool onlyPointsWithIntensityColor = false
(Default=false) If set to true
, depth image points without an associated color image will not
(New in MRPT 2.4.7)