mrpt::slam::detail Namespace Reference

Classes
struct	loadFromRangeImpl
struct	logoddscell_traits
struct	logoddscell_traits< int16_t >
struct	logoddscell_traits< int8_t >
struct	pointmap_traits
struct	TPathBin2D
	Auxiliary structure. More...
struct	TPoseBin2D
	Auxiliary structure used in KLD-sampling in particle filters. 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)

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 256 of file CObservation3DRangeScan_project3D_impl.h.

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 273 of file CObservation3DRangeScan_project3D_impl.h.

References MRPT_ALIGN16.

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 22 of file CObservation3DRangeScan_project3D_impl.h.

References ASSERT_EQUAL_, mrpt::utils::TColor::B, mrpt::slam::CObservation3DRangeScan::cameraParams, mrpt::slam::CObservation3DRangeScan::cameraParamsIntensity, mrpt::poses::CPose3D::composeFrom(), 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::poses::CPose3D::getRotationMatrix(), 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::TCached3DProjTables::Kys, mrpt::slam::CObservation3DRangeScan::TCached3DProjTables::Kzs, mrpt::slam::CObservation3DRangeScan::m_3dproj_lut, mrpt::poses::CPose3D::m_coords, mrpt::slam::CObservation3DRangeScan::TCached3DProjTables::prev_camParams, mrpt::utils::TColor::R, mrpt::slam::CObservation3DRangeScan::range_is_depth, mrpt::slam::CObservation3DRangeScan::rangeImage, mrpt::slam::CObservation3DRangeScan::relativePoseIntensityWRTDepth, mrpt::utils::round(), and mrpt::slam::CObservation3DRangeScan::sensorPose.

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