Detailed Description

Used in CObservation3DRangeScan::unprojectInto()

Definition at line 17 of file TRangeImageFilter.h.

#include <mrpt/obs/TRangeImageFilter.h>

Public Member Functions
	TRangeImageFilterParams ()=default

Public Attributes
bool	rangeCheckBetween {true}
	Only used if both rangeMask_min and rangeMask_max are present. More...

const mrpt::math::CMatrixF *	rangeMask_min {nullptr}
	(Default: nullptr) If provided, each data range will be tested to be greater-than (rangeMask_min) or less-than (rangeMask_max) each element in these matrices for each direction (row,col). More...

const mrpt::math::CMatrixF *	rangeMask_max {nullptr}

bool	mark_invalid_ranges {false}
	If enabled, the range pixels of points that do NOT pass the mask filter will be marked as invalid ranges (=0) in the source 3D observation object. More...

Constructor & Destructor Documentation

◆ TRangeImageFilterParams()

mrpt::obs::TRangeImageFilterParams::TRangeImageFilterParams ( )

default

Member Data Documentation

◆ mark_invalid_ranges

bool mrpt::obs::TRangeImageFilterParams::mark_invalid_ranges {false}

If enabled, the range pixels of points that do NOT pass the mask filter will be marked as invalid ranges (=0) in the source 3D observation object.

Definition at line 41 of file TRangeImageFilter.h.

Referenced by mrpt::obs::detail::do_project_3d_pointcloud(), and mrpt::obs::detail::do_project_3d_pointcloud_SSE2().

◆ rangeCheckBetween

bool mrpt::obs::TRangeImageFilterParams::rangeCheckBetween {true}

Only used if both rangeMask_min and rangeMask_max are present.

This switches which condition must fulfill a range D to be accepted as valid:

rangeCheckBetween=true : valid = (D>=rangeMask_min && D<=rangeMask_max)
rangeCheckBetween=false: valid = !(D>=rangeMask_min && D<=rangeMask_max)

Note: Default value:true

Definition at line 28 of file TRangeImageFilter.h.

Referenced by mrpt::obs::detail::do_project_3d_pointcloud_SSE2(), mrpt::obs::TRangeImageFilter::do_range_filter(), and TEST().

◆ rangeMask_max

const mrpt::math::CMatrixF * mrpt::obs::TRangeImageFilterParams::rangeMask_max {nullptr}

Definition at line 36 of file TRangeImageFilter.h.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::obs::detail::do_project_3d_pointcloud_SSE2(), mrpt::obs::TRangeImageFilter::do_range_filter(), mrpt::obs::detail::range2XYZ_LUT(), and TEST().

◆ rangeMask_min

const mrpt::math::CMatrixF* mrpt::obs::TRangeImageFilterParams::rangeMask_min {nullptr}

(Default: nullptr) If provided, each data range will be tested to be greater-than (rangeMask_min) or less-than (rangeMask_max) each element in these matrices for each direction (row,col).

Values of 0.0f mean no filtering at those directions. If both rangeMask_min and rangeMask_max are provided, the joint filtering operation is determined by rangeCheckBetween