mrpt::slam::detail Namespace Reference

Classes
struct	logoddscell_traits< int8_t >
struct	logoddscell_traits< int16_t >
struct	TPoseBin2D
	Auxiliary structure used in KLD-sampling in particle filters. More...
struct	TPathBin2D
	Auxiliary structure. More...
struct	TPoseBin3D
	Auxiliary structure used in KLD-sampling in particle filters. More...
Functions
template<class POINTMAP >
void	project3DPointsFromDepthImageInto (CObservation3DRangeScan &src_obs, POINTMAP &dest_pointcloud, const bool takeIntoAccountSensorPoseOnRobot, const mrpt::poses::CPose3D *robotPoseInTheWorld, const bool PROJ3D_USE_LUT)
template<class POINTMAP >
void	do_project_3d_pointcloud (const int H, const int W, const float *kys, const float *kzs, const mrpt::math::CMatrix &rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &pca)
template<class POINTMAP >
void	do_project_3d_pointcloud_SSE2 (const int H, const int W, const float *kys, const float *kzs, const mrpt::math::CMatrix &rangeImage, mrpt::utils::PointCloudAdapter< POINTMAP > &pca)

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Function Documentation

template<class POINTMAP >

void mrpt::slam::detail::do_project_3d_pointcloud	(	const int	H,
		const int	W,
		const float *	kys,
		const float *	kzs,
		const mrpt::math::CMatrix &	rangeImage,
		mrpt::utils::PointCloudAdapter< POINTMAP > &	pca
	)		[inline]

Definition at line 273 of file CObservation3DRangeScan_project3D_impl.h.

References Eigen::PlainObjectBase< Derived >::coeff().

Referenced by project3DPointsFromDepthImageInto().

template<class POINTMAP >

void mrpt::slam::detail::do_project_3d_pointcloud_SSE2	(	const int	H,
		const int	W,
		const float *	kys,
		const float *	kzs,
		const mrpt::math::CMatrix &	rangeImage,
		mrpt::utils::PointCloudAdapter< POINTMAP > &	pca
	)		[inline]

Definition at line 290 of file CObservation3DRangeScan_project3D_impl.h.

References Eigen::PlainObjectBase< Derived >::coeffRef().

Referenced by project3DPointsFromDepthImageInto().

template<class POINTMAP >

void mrpt::slam::detail::project3DPointsFromDepthImageInto	(	CObservation3DRangeScan &	src_obs,
		POINTMAP &	dest_pointcloud,
		const bool	takeIntoAccountSensorPoseOnRobot,
		const mrpt::poses::CPose3D *	robotPoseInTheWorld,
		const bool	PROJ3D_USE_LUT
	)

Definition at line 39 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_EQUAL_, mrpt::utils::TColor::B, mrpt::slam::CObservation3DRangeScan::cameraParams, mrpt::slam::CObservation3DRangeScan::cameraParamsIntensity, Eigen::PlainObjectBase< Derived >::coeff(), Eigen::PlainObjectBase< Derived >::cols(), mrpt::poses::CPose3D::composeFrom(), mrpt::poses::CPose3D, mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), do_project_3d_pointcloud(), do_project_3d_pointcloud_SSE2(), mrpt::slam::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide(), mrpt::utils::TCamera::fx(), mrpt::utils::TCamera::fy(), mrpt::utils::TColor::G, mrpt::utils::CImage::get_unsafe(), mrpt::utils::CImage::getHeight(), mrpt::poses::CPose3D::getHomogeneousMatrixVal(), mrpt::utils::CImage::getWidth(), mrpt::slam::CObservation3DRangeScan::hasIntensityImage, mrpt::slam::CObservation3DRangeScan::hasRangeImage, mrpt::math::homogeneousMatrixInverse(), mrpt::slam::CObservation3DRangeScan::intensityImage, mrpt::utils::CImage::isColor(), mrpt::slam::CObservation3DRangeScan::m_3dproj_lut, mrpt::poses::CPose3D::m_coords, mrpt::poses::CPose3D::m_ROT, mrpt::utils::TColor::R, mrpt::slam::CObservation3DRangeScan::range_is_depth, mrpt::slam::CObservation3DRangeScan::rangeImage, mrpt::slam::CObservation3DRangeScan::relativePoseIntensityWRTDepth, mrpt::utils::round(), Eigen::PlainObjectBase< Derived >::rows(), mrpt::slam::CObservation3DRangeScan::sensorPose, and Eigen::internal::sqrt().

Referenced by mrpt::slam::CObservation3DRangeScan::project3DPointsFromDepthImage().