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::CPose3D * | robotPoseInTheWorld |
(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... | |
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inline |
Definition at line 50 of file CObservation3DRangeScan.h.
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().
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().
const mrpt::poses::CPose3D* mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld |
(Default: nullptr) Read takeIntoAccountSensorPoseOnRobot
Definition at line 38 of file CObservation3DRangeScan.h.
Referenced by mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::obs::detail::project3DPointsFromDepthImageInto().
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().
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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