CObservation3DRangeScan.cpp File Reference

#include "obs-precomp.h"
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/poses/CPosePDF.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/opengl/CPointCloud.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/math/CLevenbergMarquardt.h>
#include <mrpt/math/ops_containers.h>
#include <mrpt/utils/CFileGZInputStream.h>
#include <mrpt/utils/CFileGZOutputStream.h>
#include <mrpt/utils/CTimeLogger.h>
#include <mrpt/utils/CConfigFileMemory.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/system/string_utils.h>
#include <limits>
#include <mrpt/system/CGenericMemoryPool.h>

Go to the source code of this file.

Classes
struct	CObservation3DRangeScan_Points_MemPoolParams
struct	CObservation3DRangeScan_Points_MemPoolData
struct	CObservation3DRangeScan_Ranges_MemPoolParams
struct	CObservation3DRangeScan_Ranges_MemPoolData
struct	mrpt::obs::detail::TLevMarData

Namespaces
	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
	mrpt::obs
	This namespace contains representation of robot actions and observations.
	mrpt::obs::detail

Macros
#define	COBS3DRANGE_USE_MEMPOOL
#define	CALIB_DECIMAT   15

Typedefs
typedef mrpt::system::CGenericMemoryPool< CObservation3DRangeScan_Points_MemPoolParams, CObservation3DRangeScan_Points_MemPoolData >	TMyPointsMemPool
typedef mrpt::system::CGenericMemoryPool< CObservation3DRangeScan_Ranges_MemPoolParams, CObservation3DRangeScan_Ranges_MemPoolData >	TMyRangesMemPool

Functions
void	mempool_donate_xyz_buffers (CObservation3DRangeScan &obs)
void	mempool_donate_range_matrix (CObservation3DRangeScan &obs)
void	mrpt::obs::detail::cam2vec (const TCamera &camPar, CVectorDouble &x)
void	mrpt::obs::detail::vec2cam (const CVectorDouble &x, TCamera &camPar)
void	mrpt::obs::detail::cost_func (const CVectorDouble &par, const TLevMarData &d, CVectorDouble &err)

Variables
static CObservation3DRangeScan::TCached3DProjTables	lut_3dproj
static bool	EXTERNALS_AS_TEXT_value = false

Macro Definition Documentation

CALIB_DECIMAT

#define CALIB_DECIMAT   15

Definition at line 636 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 57 of file CObservation3DRangeScan.cpp.

Typedef Documentation

TMyPointsMemPool

typedef mrpt::system::CGenericMemoryPool< CObservation3DRangeScan_Points_MemPoolParams, CObservation3DRangeScan_Points_MemPoolData> TMyPointsMemPool

Definition at line 87 of file CObservation3DRangeScan.cpp.

TMyRangesMemPool

typedef mrpt::system::CGenericMemoryPool< CObservation3DRangeScan_Ranges_MemPoolParams, CObservation3DRangeScan_Ranges_MemPoolData> TMyRangesMemPool

Definition at line 107 of file CObservation3DRangeScan.cpp.

Function Documentation

mempool_donate_range_matrix()

void mempool_donate_range_matrix

(

CObservation3DRangeScan &

obs

)

Definition at line 141 of file CObservation3DRangeScan.cpp.

References mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), CObservation3DRangeScan_Ranges_MemPoolParams::H, CObservation3DRangeScan_Ranges_MemPoolData::rangeImage, mrpt::obs::CObservation3DRangeScan::rangeImage, and CObservation3DRangeScan_Ranges_MemPoolParams::W.

Referenced by mrpt::obs::CObservation3DRangeScan::~CObservation3DRangeScan(), and mrpt::obs::CObservationRGBD360::~CObservationRGBD360().

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mempool_donate_xyz_buffers()

void mempool_donate_xyz_buffers

(

CObservation3DRangeScan &

obs

)

Definition at line 109 of file CObservation3DRangeScan.cpp.

References mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::dump_to_pool(), mrpt::system::CGenericMemoryPool< DATA_PARAMS, POOLABLE_DATA >::getInstance(), CObservation3DRangeScan_Points_MemPoolData::idxs_x, CObservation3DRangeScan_Points_MemPoolData::idxs_y, 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, CObservation3DRangeScan_Points_MemPoolData::pts_x, CObservation3DRangeScan_Points_MemPoolData::pts_y, CObservation3DRangeScan_Points_MemPoolData::pts_z, and CObservation3DRangeScan_Points_MemPoolParams::WH.

Referenced by mrpt::obs::CObservation3DRangeScan::~CObservation3DRangeScan(), and mrpt::obs::CObservationRGBD360::~CObservationRGBD360().

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Variable Documentation

EXTERNALS_AS_TEXT_value

bool EXTERNALS_AS_TEXT_value = false

static

Definition at line 45 of file CObservation3DRangeScan.cpp.

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

lut_3dproj

CObservation3DRangeScan::TCached3DProjTables lut_3dproj

static

Definition at line 39 of file CObservation3DRangeScan.cpp.

Referenced by mrpt::obs::CObservation3DRangeScan::get_3dproj_lut().