struct mola::RgbdAssembler::Parameters

Overview

#include <RgbdAssembler.h>

struct Parameters
{
    // fields

    std::string sensorLabel;
    bool withIntensity = true;
    double maxTimeOffset = 0.005;
    float maxRange = 10.0f;
    size_t maxQueueLength = 10;
    std::optional<mrpt::poses::CPose3D> fixedSensorPose;
};

Fields

double maxTimeOffset = 0.005

Maximum stamp difference between paired depth/intensity images [s]

float maxRange = 10.0f

[m]

size_t maxQueueLength = 10

Unpaired images kept waiting for their counterpart, per stream

std::optional<mrpt::poses::CPose3D> fixedSensorPose

If set, used as sensorPose instead of /tf (depth camera, +X forward)