mrpt::obs::detail Namespace Reference

Classes
struct	TLevMarData

Functions
template<class POINTMAP >
void	unprojectInto (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 *kxs, const float *kys, const float *kzs, mrpt::math::CMatrix_u16 &rangeImage, const float rangeUnits, 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 *kxs, const float *kys, const float *kzs, mrpt::math::CMatrix_u16 &rangeImage, const float rangeUnits, 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 >
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, const bool use_rotated_LUT)
static void	cam2vec (const TCamera &camPar, CVectorDouble &x)
static void	vec2cam (const CVectorDouble &x, TCamera &camPar)
static void	cost_func (const CVectorDouble &par, const TLevMarData &d, CVectorDouble &err)

Function Documentation

cam2vec()

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

static

Definition at line 883 of file CObservation3DRangeScan.cpp.

References mrpt::img::TCamera::cx(), mrpt::img::TCamera::cy(), mrpt::img::TCamera::dist, mrpt::img::TCamera::fx(), mrpt::img::TCamera::fy(), mrpt::math::CVectorDynamic< T >::resize(), and mrpt::math::CVectorDynamic< T >::size().

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

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cost_func()

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

static

Definition at line 903 of file CObservation3DRangeScan.cpp.

References CALIB_DECIMAT, mrpt::math::CMatrixDynamic< T >::cols(), mrpt::d2f(), mrpt::obs::detail::TLevMarData::obs, params, 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< T >::x, mrpt::img::TPixelCoordf::y, mrpt::math::TPoint3D_data< T >::y, mrpt::math::TPoint3D_data< T >::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 *  kxs, const float *  kys, const float *  kzs, mrpt::math::CMatrix_u16 &  rangeImage, const float  rangeUnits, 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 326 of file CObservation3DRangeScan_project3D_impl.h.

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

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 *  kxs, const float *  kys, const float *  kzs, mrpt::math::CMatrix_u16 &  rangeImage, const float  rangeUnits, 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 407 of file CObservation3DRangeScan_project3D_impl.h.

References mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef(), mrpt::obs::TRangeImageFilterParams::mark_invalid_ranges, mrpt::obs::TRangeImageFilterParams::rangeCheckBetween, mrpt::obs::TRangeImageFilterParams::rangeMask_max, and mrpt::obs::TRangeImageFilterParams::rangeMask_min.

Referenced by range2XYZ_LUT().

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range2XYZ_LUT()

template<typename POINTMAP >

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, const bool  use_rotated_LUT  )

inline

Definition at line 41 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_EQUAL_, mrpt::math::CMatrixDynamic< T >::cols(), do_project_3d_pointcloud(), do_project_3d_pointcloud_SSE2(), mrpt::obs::CObservation3DRangeScan::get_unproj_lut(), mrpt::obs::CObservation3DRangeScan::unproject_LUT_t::Kxs_rot, mrpt::obs::T3DPointsProjectionParams::layer, mrpt::obs::T3DPointsProjectionParams::MAKE_ORGANIZED, mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeImageOtherLayers, mrpt::obs::TRangeImageFilterParams::rangeMask_max, mrpt::obs::TRangeImageFilterParams::rangeMask_min, mrpt::obs::CObservation3DRangeScan::rangeUnits, mrpt::math::CMatrixDynamic< T >::rows(), mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::cpu::SSE2, mrpt::cpu::supports(), mrpt::obs::T3DPointsProjectionParams::USE_SSE2, mrpt::math::TPoint3D_data< T >::x, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::TPoint3D_data< T >::y, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::TPoint3D_data< T >::z.

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unprojectInto()

template<class POINTMAP >

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

Definition at line 111 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_, ASSERT_EQUAL_, ASSERTMSG_, mrpt::img::TColor::B, mrpt::math::CMatrixFixed< T, ROWS, COLS >::cast_float(), mrpt::math::CMatrixDynamic< T >::cols(), mrpt::poses::CPose3D::composeFrom(), mrpt::obs::T3DPointsProjectionParams::decimation, mrpt::img::TColor::G, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::getHomogeneousMatrixVal(), mrpt::obs::CObservation3DRangeScan::hasIntensityImage, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::math::homogeneousMatrixInverse(), mrpt::math::MatrixBase< Scalar, Derived >::insertMatrix(), mrpt::obs::T3DPointsProjectionParams::layer, mrpt::obs::T3DPointsProjectionParams::MAKE_ORGANIZED, mrpt::img::TColor::R, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeImageOtherLayers, mrpt::obs::CObservation3DRangeScan::resizePoints3DVectors(), mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld, mrpt::round(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::math::CMatrixFixed< T, ROWS, COLS >::size(), and mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot.

Referenced by mrpt::obs::CObservation3DRangeScan::convertTo2DScan(), mrpt::maps::CColouredOctoMap::internal_insertObservation(), and mrpt::maps::COccupancyGridMap3D::internal_insertObservationScan3D().

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vec2cam()

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

static

Definition at line 894 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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