conscience_core::lidar::CscSlam3dMapVoxelKey Struct Reference

#include <CscSlamEngine.h>

Public Member Functions
bool	operator== (const CscSlam3dMapVoxelKey &other) const
bool	operator!= (const CscSlam3dMapVoxelKey &other) const
void	toMrptPoint (float voxelSizeMeters, float &outX, float &outY, float &outZ) const
void	toCscPoint (float voxelSizeMeters, double &outX, double &outY, double &outZ) const

Static Public Member Functions
static CscSlam3dMapVoxelKey	fromMrptPoint (double x, double y, double z, float voxelSizeMeters)

Public Attributes
int32_t	x = 0
int32_t	y = 0
int32_t	z = 0

Detailed Description

To retrieve world point -> multiply each key by voxelSizeMeters, with center offset: point = {(key.x + 0.5) * voxelSize, (key.y + 0.5) * voxelSize, (key.z + 0.5) * voxelSize}.

Warning

⚠️ All changed are expressed in mrpt ref frame voxelised (need voxelSize to convert to a spatial unit) - please see CscSlam3dMapVoxelKey::toMrptPoint(..) & fromMrptReferenceFrame3d(..)

See also

fromMrptReferenceFrame3d(..)

CscSlam3dMapVoxelKey::toMrptPoint(..)

Member Function Documentation

fromMrptPoint()

CscSlam3dMapVoxelKey conscience_core::lidar::CscSlam3dMapVoxelKey::fromMrptPoint ( double  x, double  y, double  z, float  voxelSizeMeters  )

static

operator!=()

bool conscience_core::lidar::CscSlam3dMapVoxelKey::operator!=

(

const CscSlam3dMapVoxelKey &

other

)

const

operator==()

bool conscience_core::lidar::CscSlam3dMapVoxelKey::operator==

(

const CscSlam3dMapVoxelKey &

other

)

const

toCscPoint()

void conscience_core::lidar::CscSlam3dMapVoxelKey::toCscPoint	(	float	voxelSizeMeters,
		double &	outX,
		double &	outY,
		double &	outZ
	)		const

toMrptPoint()

void conscience_core::lidar::CscSlam3dMapVoxelKey::toMrptPoint	(	float	voxelSizeMeters,
		float &	outX,
		float &	outY,
		float &	outZ
	)		const

In mrpt reference frame

See also

fromMrptReferenceFrame3d(..)

Member Data Documentation

x

int32_t conscience_core::lidar::CscSlam3dMapVoxelKey::x = 0

y

int32_t conscience_core::lidar::CscSlam3dMapVoxelKey::y = 0

z

int32_t conscience_core::lidar::CscSlam3dMapVoxelKey::z = 0

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The documentation for this struct was generated from the following files:

• Lidar/CscSlamEngine.h
• Lidar/CscSlamEngine.cpp