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_t >	LUTs
static std::mutex	LUTs_mtx
static bool	EXTERNALS_AS_TEXT_value = false

Macro Definition Documentation

CALIB_DECIMAT

#define CALIB_DECIMAT   15

Definition at line 869 of file CObservation3DRangeScan.cpp.

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

COBS3DRANGE_USE_MEMPOOL

#define COBS3DRANGE_USE_MEMPOOL

Definition at line 192 of file CObservation3DRangeScan.cpp.

Typedef Documentation

TMyPointsMemPool

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

Definition at line 221 of file CObservation3DRangeScan.cpp.

TMyRangesMemPool

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

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

Definition at line 52 of file CObservation3DRangeScan.cpp.

References LUT_info::calib, LUT_info::range_is_depth, and LUT_info::sensorPose.

Variable Documentation

EXTERNALS_AS_TEXT_value

bool EXTERNALS_AS_TEXT_value = false

static

Definition at line 181 of file CObservation3DRangeScan.cpp.

Referenced by mrpt::obs::CObservation3DRangeScan::EXTERNALS_AS_TEXT(), mrpt::obs::CObservation3DRangeScan::points3D_convertToExternalStorage(), and mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage().

LUTs

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

static

Definition at line 76 of file CObservation3DRangeScan.cpp.

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

LUTs_mtx

std::mutex LUTs_mtx

static

Definition at line 77 of file CObservation3DRangeScan.cpp.

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