mrpt::obs::detail Namespace Reference

Classes
struct	TLevMarData

Functions
template<class POINTMAP >
void	project3DPointsFromDepthImageInto (mrpt::obs::CObservation3DRangeScan &src_obs, POINTMAP &dest_pointcloud, const mrpt::obs::T3DPointsProjectionParams &projectParams, const mrpt::obs::TRangeImageFilterParams &filterParams)
template<class POINTMAP >
void	do_project_3d_pointcloud (const int H, const int W, const float *kys, const float *kzs, mrpt::math::CMatrix &rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &pca, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y, const mrpt::obs::TRangeImageFilterParams &fp, bool MAKE_DENSE, const int DECIM)
template<class POINTMAP >
void	do_project_3d_pointcloud_SSE2 (const int H, const int W, const float *kys, const float *kzs, mrpt::math::CMatrix &rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &pca, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y, const mrpt::obs::TRangeImageFilterParams &fp, bool MAKE_DENSE)
template<typename POINTMAP , bool isDepth>
void	range2XYZ (mrpt::utils::PointCloudAdapter< POINTMAP > &pca, mrpt::obs::CObservation3DRangeScan &src_obs, const mrpt::obs::TRangeImageFilterParams &fp, const int H, const int W)
template<typename POINTMAP , bool isDepth>
void	range2XYZ_LUT (mrpt::utils::PointCloudAdapter< POINTMAP > &pca, mrpt::obs::CObservation3DRangeScan &src_obs, const mrpt::obs::T3DPointsProjectionParams &pp, const mrpt::obs::TRangeImageFilterParams &fp, const int H, const int W, const int DECIM=1)
void	cam2vec (const TCamera &camPar, CVectorDouble &x)
void	vec2cam (const CVectorDouble &x, TCamera &camPar)
void	cost_func (const CVectorDouble &par, const TLevMarData &d, CVectorDouble &err)

Function Documentation

cam2vec()

void mrpt::obs::detail::cam2vec	(	const TCamera &	camPar,
		CVectorDouble &	x
	)

Definition at line 584 of file CObservation3DRangeScan.cpp.

References mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), mrpt::utils::TCamera::dist, mrpt::utils::TCamera::fx(), and mrpt::utils::TCamera::fy().

Referenced by mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters().

cost_func()

void mrpt::obs::detail::cost_func	(	const CVectorDouble &	par,
		const TLevMarData &	d,
		CVectorDouble &	err
	)

Definition at line 606 of file CObservation3DRangeScan.cpp.

References CALIB_DECIMAT, mrpt::obs::detail::TLevMarData::obs, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, mrpt::obs::CObservation3DRangeScan::points3D_z, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::math::square(), vec2cam(), mrpt::utils::TPixelCoordf::x, mrpt::math::TPoint3D::x, mrpt::utils::TPixelCoordf::y, mrpt::math::TPoint3D::y, mrpt::math::TPoint3D::z, and mrpt::obs::detail::TLevMarData::z_offset.

Referenced by mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters().

do_project_3d_pointcloud()

template<class POINTMAP >

void mrpt::obs::detail::do_project_3d_pointcloud ( const int  H, const int  W, const float *  kys, const float *  kzs, mrpt::math::CMatrix &  rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &  pca, std::vector< uint16_t > &  idxs_x, std::vector< uint16_t > &  idxs_y, const mrpt::obs::TRangeImageFilterParams &  fp, bool  MAKE_DENSE, const int  DECIM  )

inline

Definition at line 307 of file CObservation3DRangeScan_project3D_impl.h.

References mrpt::obs::TRangeImageFilter::do_range_filter(), and mrpt::obs::TRangeImageFilterParams::mark_invalid_ranges.

Referenced by range2XYZ_LUT().

do_project_3d_pointcloud_SSE2()

template<class POINTMAP >

void mrpt::obs::detail::do_project_3d_pointcloud_SSE2 ( const int  H, const int  W, const float *  kys, const float *  kzs, mrpt::math::CMatrix &  rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &  pca, std::vector< uint16_t > &  idxs_x, std::vector< uint16_t > &  idxs_y, const mrpt::obs::TRangeImageFilterParams &  fp, bool  MAKE_DENSE  )

inline

Definition at line 387 of file CObservation3DRangeScan_project3D_impl.h.

References mrpt::obs::TRangeImageFilterParams::mark_invalid_ranges, MRPT_ALIGN16, mrpt::obs::TRangeImageFilterParams::rangeCheckBetween, mrpt::obs::TRangeImageFilterParams::rangeMask_max, and mrpt::obs::TRangeImageFilterParams::rangeMask_min.

Referenced by range2XYZ_LUT().

project3DPointsFromDepthImageInto()

template<class POINTMAP >

void mrpt::obs::detail::project3DPointsFromDepthImageInto	(	mrpt::obs::CObservation3DRangeScan &	src_obs,
		POINTMAP &	dest_pointcloud,
		const mrpt::obs::T3DPointsProjectionParams &	projectParams,
		const mrpt::obs::TRangeImageFilterParams &	filterParams
	)

Definition at line 128 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_, ASSERTMSG_, mrpt::utils::TColor::B, mrpt::obs::CObservation3DRangeScan::cameraParamsIntensity, mrpt::poses::CPose3D::composeFrom(), mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), mrpt::obs::T3DPointsProjectionParams::decimation, mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::utils::TColor::G, mrpt::utils::CImage::get_unsafe(), mrpt::utils::CImage::getHeight(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), mrpt::poses::CPose3D::getRotationMatrix(), mrpt::utils::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::hasIntensityImage, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::math::homogeneousMatrixInverse(), mrpt::obs::CObservation3DRangeScan::intensityImage, mrpt::utils::CImage::isColor(), mrpt::poses::CPose3D::m_coords, mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT, mrpt::utils::TColor::R, mrpt::obs::CObservation3DRangeScan::range_is_depth, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::relativePoseIntensityWRTDepth, mrpt::obs::CObservation3DRangeScan::resizePoints3DVectors(), mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld, mrpt::utils::round(), mrpt::obs::CObservation3DRangeScan::sensorPose, and mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot.

Referenced by mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::obs::CObservation3DRangeScan::project3DPointsFromDepthImage().

range2XYZ()

template<typename POINTMAP , bool isDepth>

void mrpt::obs::detail::range2XYZ ( mrpt::utils::PointCloudAdapter< POINTMAP > &  pca, mrpt::obs::CObservation3DRangeScan &  src_obs, const mrpt::obs::TRangeImageFilterParams &  fp, const int  H, const int  W  )

inline

Definition at line 22 of file CObservation3DRangeScan_project3D_impl.h.

References mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), mrpt::obs::TRangeImageFilter::do_range_filter(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::obs::TRangeImageFilterParams::mark_invalid_ranges, mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, and mrpt::obs::CObservation3DRangeScan::rangeImage.

range2XYZ_LUT()

template<typename POINTMAP , bool isDepth>

void mrpt::obs::detail::range2XYZ_LUT ( mrpt::utils::PointCloudAdapter< POINTMAP > &  pca, mrpt::obs::CObservation3DRangeScan &  src_obs, const mrpt::obs::T3DPointsProjectionParams &  pp, const mrpt::obs::TRangeImageFilterParams &  fp, const int  H, const int  W, const int  DECIM = 1  )

inline

Definition at line 69 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_EQUAL_, mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), do_project_3d_pointcloud(), do_project_3d_pointcloud_SSE2(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kys, mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kzs, mrpt::obs::CObservation3DRangeScan::m_3dproj_lut, mrpt::obs::T3DPointsProjectionParams::MAKE_DENSE, mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::prev_camParams, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::TRangeImageFilterParams::rangeMask_max, mrpt::obs::TRangeImageFilterParams::rangeMask_min, and mrpt::obs::T3DPointsProjectionParams::USE_SSE2.

vec2cam()

void mrpt::obs::detail::vec2cam	(	const CVectorDouble &	x,
		TCamera &	camPar
	)

Definition at line 596 of file CObservation3DRangeScan.cpp.

References mrpt::utils::TCamera::dist, and mrpt::utils::TCamera::intrinsicParams.

Referenced by cost_func(), and mrpt::obs::CObservation3DRangeScan::recoverCameraCalibrationParameters().