struct mrpt::obs::CObservation3DRangeScan::unproject_LUT_t¶
Look-up-table struct for unprojectInto()
#include <mrpt/obs/CObservation3DRangeScan.h> struct unproject_LUT_t { // fields mrpt::aligned_std_vector<float> Kxs; mrpt::aligned_std_vector<float> Kys; mrpt::aligned_std_vector<float> Kzs; mrpt::aligned_std_vector<float> Kxs_rot; mrpt::aligned_std_vector<float> Kys_rot; mrpt::aligned_std_vector<float> Kzs_rot; };
Fields¶
mrpt::aligned_std_vector<float> Kxs
x,y,z: +X pointing forward (depth), +z up These doesn’t account for the sensor pose.
mrpt::aligned_std_vector<float> Kxs_rot
x,y,z: in the rotated frame of coordinates of the sensorPose.
So, sensed points are directly measured_range(or depth) times this vector, plus the translation (no rotation!) of the sensor pose.