MRPT  2.0.1
Classes | Namespaces | Macros | Typedefs | Functions | Variables
CObservation3DRangeScan.cpp File Reference
#include "obs-precomp.h"
#include <mrpt/3rdparty/do_opencv_includes.h>
#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/core/bits_mem.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/math/CLevenbergMarquardt.h>
#include <mrpt/math/CMatrixF.h>
#include <mrpt/math/ops_containers.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/CTimeLogger.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/string_utils.h>
#include <cstring>
#include <limits>
#include <mutex>
#include <unordered_map>
#include <mrpt/system/CGenericMemoryPool.h>
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Classes

struct  LUT_info
 
struct  std::hash< LUT_info >
 
struct  CObservation3DRangeScan_Points_MemPoolParams
 
struct  CObservation3DRangeScan_Points_MemPoolData
 
struct  CObservation3DRangeScan_Ranges_MemPoolParams
 
struct  CObservation3DRangeScan_Ranges_MemPoolData
 
struct  mrpt::obs::detail::TLevMarData
 

Namespaces

 mrpt::obs::detail
 

Macros

#define COBS3DRANGE_USE_MEMPOOL
 
#define CALIB_DECIMAT   15
 

Typedefs

using TMyPointsMemPool = mrpt::system::CGenericMemoryPool< CObservation3DRangeScan_Points_MemPoolParams, CObservation3DRangeScan_Points_MemPoolData >
 
using TMyRangesMemPool = mrpt::system::CGenericMemoryPool< CObservation3DRangeScan_Ranges_MemPoolParams, CObservation3DRangeScan_Ranges_MemPoolData >
 

Functions

bool operator== (const LUT_info &a, const LUT_info &o)
 
static void mempool_donate_xyz_buffers (CObservation3DRangeScan &obs)
 
void mempool_donate_range_matrix (CObservation3DRangeScan &obs)
 
static void mrpt::obs::detail::cam2vec (const TCamera &camPar, CVectorDouble &x)
 
static void mrpt::obs::detail::vec2cam (const CVectorDouble &x, TCamera &camPar)
 
static void mrpt::obs::detail::cost_func (const CVectorDouble &par, const TLevMarData &d, CVectorDouble &err)
 

Variables

static std::unordered_map< LUT_info, CObservation3DRangeScan::unproject_LUT_tLUTs
 
static std::mutex LUTs_mtx
 
static bool EXTERNALS_AS_TEXT_value = false
 

Macro Definition Documentation

◆ CALIB_DECIMAT

#define CALIB_DECIMAT   15

◆ COBS3DRANGE_USE_MEMPOOL

#define COBS3DRANGE_USE_MEMPOOL

Definition at line 192 of file CObservation3DRangeScan.cpp.

Typedef Documentation

◆ TMyPointsMemPool

Definition at line 221 of file CObservation3DRangeScan.cpp.

◆ TMyRangesMemPool

Definition at line 240 of file CObservation3DRangeScan.cpp.

Function Documentation

◆ mempool_donate_range_matrix()

void mempool_donate_range_matrix ( CObservation3DRangeScan obs)

Definition at line 270 of file CObservation3DRangeScan.cpp.

References mrpt::math::CMatrixDynamic< T >::cols(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), CObservation3DRangeScan_Ranges_MemPoolParams::H, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixDynamic< T >::swap(), and CObservation3DRangeScan_Ranges_MemPoolParams::W.

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

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◆ mempool_donate_xyz_buffers()

static void mempool_donate_xyz_buffers ( CObservation3DRangeScan obs)
static

Definition at line 242 of file CObservation3DRangeScan.cpp.

References mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, mrpt::obs::CObservation3DRangeScan::points3D_z, and CObservation3DRangeScan_Points_MemPoolParams::WH.

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

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◆ operator==()

bool operator== ( const LUT_info a,
const LUT_info o 
)
inline

Variable Documentation

◆ EXTERNALS_AS_TEXT_value

bool EXTERNALS_AS_TEXT_value = false
static

◆ LUTs

std::unordered_map<LUT_info, CObservation3DRangeScan::unproject_LUT_t> LUTs
static

◆ LUTs_mtx

std::mutex LUTs_mtx
static



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