MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes
mrpt::obs::TRangeImageFilterParams Struct Reference

Detailed Description

Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()

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::CMatrixFrangeMask_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::CMatrixFrangeMask_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(), mrpt::obs::detail::do_project_3d_pointcloud_SSE2(), and mrpt::obs::detail::range2XYZ().

◆ 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}

◆ 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

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().




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