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mrpt::obs::T3DPointsProjectionParams Struct Reference

Detailed Description

Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()

Definition at line 30 of file CObservation3DRangeScan.h.

#include <mrpt/obs/CObservation3DRangeScan.h>

Public Member Functions

 T3DPointsProjectionParams ()
 

Public Attributes

bool takeIntoAccountSensorPoseOnRobot
 (Default: false) If false, local (sensor-centric) coordinates of points are generated. More...
 
const mrpt::poses::CPose3DrobotPoseInTheWorld
 (Default: nullptr) Read takeIntoAccountSensorPoseOnRobot More...
 
bool PROJ3D_USE_LUT
 (Default:true) [Only used when range_is_depth=true] Whether to use a Look-up-table (LUT) to speed up the conversion. More...
 
bool USE_SSE2
 (Default:true) If possible, use SSE2 optimized code. More...
 
bool MAKE_DENSE
 (Default:true) set to false if you want to preserve the organization of the point cloud More...
 

Constructor & Destructor Documentation

◆ T3DPointsProjectionParams()

mrpt::obs::T3DPointsProjectionParams::T3DPointsProjectionParams ( )
inline

Definition at line 50 of file CObservation3DRangeScan.h.

Member Data Documentation

◆ MAKE_DENSE

bool mrpt::obs::T3DPointsProjectionParams::MAKE_DENSE

(Default:true) set to false if you want to preserve the organization of the point cloud

Definition at line 49 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ PROJ3D_USE_LUT

bool mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT

(Default:true) [Only used when range_is_depth=true] Whether to use a Look-up-table (LUT) to speed up the conversion.

It's thread safe in all situations except when you call this method from different threads and with different camera parameter matrices. In all other cases, it is a good idea to left it enabled.

Definition at line 44 of file CObservation3DRangeScan.h.

Referenced by fillSampleObs(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ robotPoseInTheWorld

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

(Default: nullptr) Read takeIntoAccountSensorPoseOnRobot

Definition at line 38 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ takeIntoAccountSensorPoseOnRobot

bool mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot

(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 36 of file CObservation3DRangeScan.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), fillSampleObs(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().

◆ USE_SSE2

bool mrpt::obs::T3DPointsProjectionParams::USE_SSE2

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

Definition at line 46 of file CObservation3DRangeScan.h.

Referenced by fillSampleObs(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().




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