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::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 your point cloud can contain undefined values More...
bool	MAKE_ORGANIZED
	(Default:false) set to true if you want an organized point cloud More...

Constructor & Destructor Documentation

T3DPointsProjectionParams()

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

inline

Definition at line 52 of file CObservation3DRangeScan.h.

Member Data Documentation

MAKE_DENSE

bool mrpt::obs::T3DPointsProjectionParams::MAKE_DENSE

(Default:true) set to false if your point cloud can contain undefined values

Definition at line 48 of file CObservation3DRangeScan.h.

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

MAKE_ORGANIZED

bool mrpt::obs::T3DPointsProjectionParams::MAKE_ORGANIZED

(Default:false) set to true if you want an organized point cloud

Definition at line 50 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().