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, const mrpt::math::CMatrixF &rangeImage, mrpt::opengl::PointCloudAdapter< POINTMAP > &pca, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y, const mrpt::obs::TRangeImageFilterParams &fp, bool MAKE_ORGANIZED, const int DECIM)
template<class POINTMAP >
void	do_project_3d_pointcloud_SSE2 (const int H, const int W, const float *kys, const float *kzs, const mrpt::math::CMatrixF &rangeImage, mrpt::opengl::PointCloudAdapter< POINTMAP > &pca, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y, const mrpt::obs::TRangeImageFilterParams &fp, bool MAKE_ORGANIZED)
template<typename POINTMAP , bool isDepth>
void	range2XYZ (mrpt::opengl::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::opengl::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 634 of file CObservation3DRangeScan.cpp.

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

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

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cost_func()

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

Definition at line 654 of file CObservation3DRangeScan.cpp.

References CALIB_DECIMAT, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::obs::detail::TLevMarData::obs, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, mrpt::obs::CObservation3DRangeScan::points3D_z, mrpt::math::CVectorDynamic< T >::push_back(), mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::square(), vec2cam(), mrpt::img::TPixelCoordf::x, mrpt::math::TPoint3D_data::x, mrpt::img::TPixelCoordf::y, mrpt::math::TPoint3D_data::y, mrpt::math::TPoint3D_data::z, and mrpt::obs::detail::TLevMarData::z_offset.

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

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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, const mrpt::math::CMatrixF &  rangeImage, mrpt::opengl::PointCloudAdapter< POINTMAP > &  pca, std::vector< uint16_t > &  idxs_x, std::vector< uint16_t > &  idxs_y, const mrpt::obs::TRangeImageFilterParams &  fp, bool  MAKE_ORGANIZED, const int  DECIM  )

inline

Definition at line 343 of file CObservation3DRangeScan_project3D_impl.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::coeff(), and mrpt::obs::TRangeImageFilter::do_range_filter().

Referenced by range2XYZ_LUT().

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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, const mrpt::math::CMatrixF &  rangeImage, mrpt::opengl::PointCloudAdapter< POINTMAP > &  pca, std::vector< uint16_t > &  idxs_x, std::vector< uint16_t > &  idxs_y, const mrpt::obs::TRangeImageFilterParams &  fp, bool  MAKE_ORGANIZED  )

inline

Definition at line 413 of file CObservation3DRangeScan_project3D_impl.h.

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

Referenced by range2XYZ_LUT().

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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 137 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_, ASSERTMSG_, mrpt::img::TColor::B, mrpt::obs::CObservation3DRangeScan::cameraParamsIntensity, mrpt::math::CMatrixFixed< T, ROWS, COLS >::cast_float(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::poses::CPose3D::composeFrom(), mrpt::img::TCamera::cx(), mrpt::img::TCamera::cy(), mrpt::obs::T3DPointsProjectionParams::decimation, mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide(), mrpt::img::TCamera::fx(), mrpt::img::TCamera::fy(), mrpt::img::TColor::G, mrpt::img::CImage::getHeight(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), mrpt::poses::CPose3D::getRotationMatrix(), mrpt::img::CImage::getWidth(), mrpt::obs::CObservation3DRangeScan::hasIntensityImage, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::math::homogeneousMatrixInverse(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::obs::CObservation3DRangeScan::intensityImage, mrpt::img::CImage::isColor(), mrpt::poses::CPose3D::m_coords, mrpt::obs::T3DPointsProjectionParams::MAKE_ORGANIZED, mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT, mrpt::img::CImage::ptrLine(), mrpt::img::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::round(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::obs::CObservation3DRangeScan::sensorPose, and mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot.

Referenced by mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan3D().

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range2XYZ()

template<typename POINTMAP , bool isDepth>

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

inline

Definition at line 36 of file CObservation3DRangeScan_project3D_impl.h.

References mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::math::MatrixVectorBase< Scalar, Derived >::coeff(), mrpt::img::TCamera::cx(), mrpt::img::TCamera::cy(), mrpt::obs::TRangeImageFilter::do_range_filter(), mrpt::img::TCamera::fx(), mrpt::img::TCamera::fy(), mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, and mrpt::obs::CObservation3DRangeScan::rangeImage.

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range2XYZ_LUT()

template<typename POINTMAP , bool isDepth>

void mrpt::obs::detail::range2XYZ_LUT ( mrpt::opengl::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 78 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_EQUAL_, mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::img::TCamera::cx(), mrpt::img::TCamera::cy(), do_project_3d_pointcloud(), do_project_3d_pointcloud_SSE2(), mrpt::img::TCamera::fx(), mrpt::img::TCamera::fy(), mrpt::obs::CObservation3DRangeScan::get_3dproj_lut(), mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kys, mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kzs, mrpt::obs::T3DPointsProjectionParams::MAKE_ORGANIZED, 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, mrpt::math::CMatrixDynamic< T >::rows(), and mrpt::obs::T3DPointsProjectionParams::USE_SSE2.

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vec2cam()

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

Definition at line 645 of file CObservation3DRangeScan.cpp.

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

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

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