struct mp2p_icp::txt_export_options_t

Overview

#include <point_cloud_export.h>

struct txt_export_options_t
{
    // fields

    bool header = true;
    std::vector<std::string> fields;
    std::optional<mrpt::poses::CPose3D> transform;
};

Fields

bool header = true

Write a first line with the space-separated field names.

std::vector<std::string> fields

Fields to export, in this order. If empty, all fields are exported: x, y, z, then the float, uint16, double and uint8 fields. Requested fields missing in the cloud are written as zeros.

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).