T3DPointsProjectionParams.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/poses/CPose3D.h>
#include <cstdint>
#include <string>

namespace mrpt::obs
{
/** Used in CObservation3DRangeScan::unprojectInto()
 * \ingroup mrpt_obs_grp
 */
struct T3DPointsProjectionParams
{
    /** (Default: false) If false, local (sensor-centric) coordinates of points
     * are generated. Otherwise, points are transformed with \a sensorPose.
     * Furthermore, if provided, those coordinates are transformed with \a
     * robotPoseInTheWorld */
    bool takeIntoAccountSensorPoseOnRobot = false;
    /** (Default: nullptr) Read takeIntoAccountSensorPoseOnRobot */
    const mrpt::poses::CPose3D* robotPoseInTheWorld = nullptr;

    /** (Default:true) If possible, use SSE2 optimized code. */
    bool USE_SSE2 = true;

    /** (Default:false) set to true if you want an organized point cloud */
    bool MAKE_ORGANIZED = false;

    /** (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. */
    uint8_t decimation = 1;

    /** 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. */
    std::string layer;

    T3DPointsProjectionParams() = default;
};

}  // namespace mrpt::obs