struct mp2p_icp::ply_export_options_t

Overview

#include <point_cloud_export.h>

struct ply_export_options_t
{
    // fields

    bool binary = false;
    std::vector<std::string> fields;
    bool ignore_missing_fields = false;
    std::optional<mrpt::poses::CPose3D> transform;
};

Fields

bool binary = false

Binary little endian (true) or ASCII (false) PLY format.

std::vector<std::string> fields

Fields to export, in this order. If empty, all fields are exported: x, y, z, then the float, double, uint16 and uint8 fields. The color_{r,g,b} and color_{rf,gf,bf} fields are written with the standard PLY names red, green, blue.

bool ignore_missing_fields = false

If true, requested fields missing in the cloud are written as zeros; otherwise an exception is thrown.

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

If set, the x, y, z coordinates are transformed with this pose before being written (e.g. T_enu_to_map, to export in the ENU frame).