Detailed Description

Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()

Definition at line 31 of file obs/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. Otherwise, points are transformed with sensorPose. Furthermore, if provided, those coordinates are transformed with robotPoseInTheWorld More...

const mrpt::poses::CPose3D *	robotPoseInTheWorld
	(Default: NULL) 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. 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. 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...

uint8_t	decimation
	(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...

Constructor & Destructor Documentation

◆ T3DPointsProjectionParams()

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

inline

Definition at line 42 of file obs/CObservation3DRangeScan.h.

Member Data Documentation

◆ decimation

uint8_t mrpt::obs::T3DPointsProjectionParams::decimation

(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 41 of file obs/CObservation3DRangeScan.h.

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

◆ 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 37 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::obs::detail::range2XYZ_LUT().

◆ 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 35 of file obs/CObservation3DRangeScan.h.

Referenced by fillSampleObs(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), and mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImageInto().

◆ robotPoseInTheWorld

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

(Default: NULL) Read takeIntoAccountSensorPoseOnRobot

Definition at line 34 of file obs/CObservation3DRangeScan.h.

Referenced by mrpt::maps::CColouredOctoMap::internal_insertObservation(), mrpt::obs::detail::project3DPointsFromDepthImageInto(), and mrpt::obs::CObservation3DRangeScan::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 33 of file obs/CObservation3DRangeScan.h.

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

◆ USE_SSE2

bool mrpt::obs::T3DPointsProjectionParams::USE_SSE2

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

Definition at line 36 of file obs/CObservation3DRangeScan.h.

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