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Functions
mrpt::obs::detail Namespace Reference

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, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y)
 
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, std::vector< uint16_t > &idxs_x, std::vector< uint16_t > &idxs_y)
 

Function Documentation

◆ do_project_3d_pointcloud()

template<class POINTMAP >
void mrpt::obs::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,
std::vector< uint16_t > &  idxs_x,
std::vector< uint16_t > &  idxs_y 
)
inline

◆ 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 *  kys,
const float *  kzs,
const mrpt::math::CMatrix rangeImage,
mrpt::utils::PointCloudAdapter< POINTMAP > &  pca,
std::vector< uint16_t > &  idxs_x,
std::vector< uint16_t > &  idxs_y 
)
inline

Definition at line 285 of file CObservation3DRangeScan_project3D_impl.h.

References MRPT_ALIGN16.

Referenced by project3DPointsFromDepthImageInto().

◆ project3DPointsFromDepthImageInto()

template<class POINTMAP >
void mrpt::obs::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::obs::CObservation3DRangeScan::cameraParams, mrpt::obs::CObservation3DRangeScan::cameraParamsIntensity, mrpt::poses::CPose3D::composeFrom(), mrpt::utils::TCamera::cx(), mrpt::utils::TCamera::cy(), do_project_3d_pointcloud(), do_project_3d_pointcloud_SSE2(), mrpt::obs::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::obs::CObservation3DRangeScan::hasIntensityImage, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::math::homogeneousMatrixInverse(), mrpt::obs::CObservation3DRangeScan::intensityImage, mrpt::utils::CImage::isColor(), mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kys, mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::Kzs, mrpt::obs::CObservation3DRangeScan::m_3dproj_lut, mrpt::poses::CPose3D::m_coords, mrpt::obs::CObservation3DRangeScan::points3D_idxs_x, mrpt::obs::CObservation3DRangeScan::points3D_idxs_y, mrpt::obs::CObservation3DRangeScan::TCached3DProjTables::prev_camParams, mrpt::utils::TColor::R, mrpt::obs::CObservation3DRangeScan::range_is_depth, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::obs::CObservation3DRangeScan::relativePoseIntensityWRTDepth, mrpt::utils::round(), and mrpt::obs::CObservation3DRangeScan::sensorPose.

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




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