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CObservation3DRangeScan_project3D_impl.h
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3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
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8  +---------------------------------------------------------------------------+ */
9 #ifndef CObservation3DRangeScan_project3D_impl_H
10 #define CObservation3DRangeScan_project3D_impl_H
11 
12 #include <mrpt/utils/round.h> // round()
13 
14 namespace mrpt {
15 namespace obs {
16 namespace detail {
17  // Auxiliary functions which implement SSE-optimized proyection of 3D point cloud:
18  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,const mrpt::obs::TRangeImageFilterParams &filterParams, bool MAKE_DENSE, const int DECIM);
19  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,const mrpt::obs::TRangeImageFilterParams &filterParams, bool MAKE_DENSE);
20 
21  template <typename POINTMAP, bool isDepth>
22  inline void range2XYZ(
23  mrpt::utils::PointCloudAdapter<POINTMAP>& pca,
24  mrpt::obs::CObservation3DRangeScan& src_obs,
25  const mrpt::obs::TRangeImageFilterParams& fp, const int H, const int W)
26  {
27  /* range_is_depth = false :
28  * Ky = (r_cx - c)/r_fx
29  * Kz = (r_cy - r)/r_fy
30  *
31  * x(i) = rangeImage(r,c) / sqrt( 1 + Ky^2 + Kz^2 )
32  * y(i) = Ky * x(i)
33  * z(i) = Kz * x(i)
34  */
35  const float r_cx = src_obs.cameraParams.cx();
36  const float r_cy = src_obs.cameraParams.cy();
37  const float r_fx_inv = 1.0f / src_obs.cameraParams.fx();
38  const float r_fy_inv = 1.0f / src_obs.cameraParams.fy();
39  TRangeImageFilter rif(fp);
40  size_t idx = 0;
41  for (int r = 0; r < H; r++)
42  for (int c = 0; c < W; c++)
43  {
44  const float D = src_obs.rangeImage.coeff(r, c);
45  if (rif.do_range_filter(r, c, D))
46  {
47  const float Ky = (r_cx - c) * r_fx_inv;
48  const float Kz = (r_cy - r) * r_fy_inv;
49  pca.setPointXYZ(
50  idx,
51  isDepth ? D : D / std::sqrt(1 + Ky * Ky + Kz * Kz), // x
52  Ky * D, // y
53  Kz * D // z
54  );
55  src_obs.points3D_idxs_x[idx] = c;
56  src_obs.points3D_idxs_y[idx] = r;
57  ++idx;
58  }
59  }
60  pca.resize(idx); // Actual number of valid pts
61  }
62 
63  template <typename POINTMAP, bool isDepth>
64  inline void range2XYZ_LUT(
65  mrpt::utils::PointCloudAdapter<POINTMAP>& pca,
66  mrpt::obs::CObservation3DRangeScan& src_obs,
67  const mrpt::obs::T3DPointsProjectionParams& pp,
68  const mrpt::obs::TRangeImageFilterParams& fp, const int H, const int W,
69  const int DECIM = 1)
70  {
71  const size_t WH = W * H;
72  if (src_obs.m_3dproj_lut.prev_camParams != src_obs.cameraParams ||
73  WH != size_t(src_obs.m_3dproj_lut.Kys.size()))
74  {
75  src_obs.m_3dproj_lut.prev_camParams = src_obs.cameraParams;
76  src_obs.m_3dproj_lut.Kys.resize(WH);
77  src_obs.m_3dproj_lut.Kzs.resize(WH);
78 
79  const float r_cx = src_obs.cameraParams.cx();
80  const float r_cy = src_obs.cameraParams.cy();
81  const float r_fx_inv = 1.0f / src_obs.cameraParams.fx();
82  const float r_fy_inv = 1.0f / src_obs.cameraParams.fy();
83 
84  float* kys = &src_obs.m_3dproj_lut.Kys[0];
85  float* kzs = &src_obs.m_3dproj_lut.Kzs[0];
86  for (int r = 0; r < H; r++)
87  for (int c = 0; c < W; c++)
88  {
89  *kys++ = (r_cx - c) * r_fx_inv;
90  *kzs++ = (r_cy - r) * r_fy_inv;
91  }
92  } // end update LUT.
93 
94  ASSERT_EQUAL_(WH, size_t(src_obs.m_3dproj_lut.Kys.size()));
95  ASSERT_EQUAL_(WH, size_t(src_obs.m_3dproj_lut.Kzs.size()));
96  float* kys = &src_obs.m_3dproj_lut.Kys[0];
97  float* kzs = &src_obs.m_3dproj_lut.Kzs[0];
98 
99  if (fp.rangeMask_min)
100  { // sanity check:
101  ASSERT_EQUAL_(fp.rangeMask_min->cols(), src_obs.rangeImage.cols());
102  ASSERT_EQUAL_(fp.rangeMask_min->rows(), src_obs.rangeImage.rows());
103  }
104  if (fp.rangeMask_max)
105  { // sanity check:
106  ASSERT_EQUAL_(fp.rangeMask_max->cols(), src_obs.rangeImage.cols());
107  ASSERT_EQUAL_(fp.rangeMask_max->rows(), src_obs.rangeImage.rows());
108  }
109  #if MRPT_HAS_SSE2
110  // if image width is not 8*N, use standard method
111  if ((W & 0x07) == 0 && pp.USE_SSE2 && DECIM == 1)
112  do_project_3d_pointcloud_SSE2(
113  H, W, kys, kzs, src_obs.rangeImage, pca, src_obs.points3D_idxs_x,
114  src_obs.points3D_idxs_y, fp, pp.MAKE_DENSE);
115  else
116  #endif
117  do_project_3d_pointcloud(
118  H, W, kys, kzs, src_obs.rangeImage, pca, src_obs.points3D_idxs_x,
119  src_obs.points3D_idxs_y, fp, pp.MAKE_DENSE, DECIM);
120  }
121 
122  template <class POINTMAP>
123  void project3DPointsFromDepthImageInto(
124  mrpt::obs::CObservation3DRangeScan& src_obs, POINTMAP& dest_pointcloud,
125  const mrpt::obs::T3DPointsProjectionParams& pp,
126  const mrpt::obs::TRangeImageFilterParams& fp)
127  {
128  using namespace mrpt::math;
129 
130  if (!src_obs.hasRangeImage) return;
131 
132  mrpt::utils::PointCloudAdapter<POINTMAP> pca(dest_pointcloud);
133 
134  // ------------------------------------------------------------
135  // Stage 1/3: Create 3D point cloud local coordinates
136  // ------------------------------------------------------------
137  const int W = src_obs.rangeImage.cols();
138  const int H = src_obs.rangeImage.rows();
139  ASSERT_(W != 0 && H != 0);
140  const size_t WH = W * H;
141 
142  if (pp.decimation == 1)
143  {
144  // No decimation: one point per range image pixel
145 
146  // This is to make sure points3D_idxs_{x,y} have the expected sizes
147  src_obs.resizePoints3DVectors(WH);
148  // Reserve memory for 3D points. It will be later resized again to the
149  // actual number of valid points
150  pca.resize(WH);
151  //if (pp.MAKE_DENSE) pca.setDimensions(H, W);
152  if (src_obs.range_is_depth)
153  {
154  // range_is_depth = true
155  // Use cached tables?
156  if (pp.PROJ3D_USE_LUT)
157  range2XYZ_LUT<POINTMAP, true>(pca, src_obs, pp, fp, H, W);
158  else
159  range2XYZ<POINTMAP, true>(pca, src_obs, fp, H, W);
160  }
161  else
162  range2XYZ<POINTMAP, false>(pca, src_obs, fp, H, W);
163  }
164  else
165  {
166  // Decimate range image:
167  const auto DECIM = pp.decimation;
168  ASSERTMSG_(
169  (W % DECIM) == 0 && (H % DECIM == 0),
170  "Width/Height are not an exact multiple of decimation");
171  const int Wd = W / DECIM;
172  const int Hd = H / DECIM;
173  ASSERT_(Wd != 0 && Hd != 0);
174  const size_t WHd = Wd * Hd;
175 
176  src_obs.resizePoints3DVectors(WHd);
177  pca.resize(WHd);
178  //if (pp.MAKE_DENSE) pca.setDimensions(Hd, Wd);
179  ASSERTMSG_(
180  src_obs.range_is_depth && pp.PROJ3D_USE_LUT,
181  "Decimation only available if range_is_depth && PROJ3D_USE_LUT");
182  range2XYZ_LUT<POINTMAP, true>(pca, src_obs, pp, fp, H, W, DECIM);
183  }
184 
185  // -------------------------------------------------------------
186  // Stage 2/3: Project local points into RGB image to get colors
187  // -------------------------------------------------------------
188  if (src_obs.hasIntensityImage)
189  {
190  const int imgW = src_obs.intensityImage.getWidth();
191  const int imgH = src_obs.intensityImage.getHeight();
192  const bool hasColorIntensityImg = src_obs.intensityImage.isColor();
193 
194  const float cx = src_obs.cameraParamsIntensity.cx();
195  const float cy = src_obs.cameraParamsIntensity.cy();
196  const float fx = src_obs.cameraParamsIntensity.fx();
197  const float fy = src_obs.cameraParamsIntensity.fy();
198 
199  // Unless we are in a special case (both depth & RGB images coincide)...
200  const bool isDirectCorresp = src_obs.doDepthAndIntensityCamerasCoincide();
201 
202  // ...precompute the inverse of the pose transformation out of the loop,
203  // store as a 4x4 homogeneous matrix to exploit SSE optimizations below:
204  mrpt::math::CMatrixFixedNumeric<float,4,4> T_inv;
205  if (!isDirectCorresp)
206  {
207  mrpt::math::CMatrixFixedNumeric<double,3,3> R_inv;
208  mrpt::math::CMatrixFixedNumeric<double,3,1> t_inv;
209  mrpt::math::homogeneousMatrixInverse(
210  src_obs.relativePoseIntensityWRTDepth.getRotationMatrix(),src_obs.relativePoseIntensityWRTDepth.m_coords,
211  R_inv,t_inv);
212 
213  T_inv(3,3)=1;
214  T_inv.block<3,3>(0,0)=R_inv.cast<float>();
215  T_inv.block<3,1>(0,3)=t_inv.cast<float>();
216  }
217 
218  Eigen::Matrix<float,4,1> pt_wrt_color, pt_wrt_depth;
219  pt_wrt_depth[3]=1;
220 
221  mrpt::utils::TColor pCol;
222 
223  // For each local point:
224  const size_t nPts = pca.size();
225  for (size_t i=0;i<nPts;i++)
226  {
227  int img_idx_x, img_idx_y; // projected pixel coordinates, in the RGB image plane
228  bool pointWithinImage = false;
229  if (isDirectCorresp)
230  {
231  pointWithinImage=true;
232  img_idx_x = src_obs.points3D_idxs_x[i];
233  img_idx_y = src_obs.points3D_idxs_y[i];
234  }
235  else
236  {
237  // Project point, which is now in "pca" in local coordinates wrt the depth camera, into the intensity camera:
238  pca.getPointXYZ(i,pt_wrt_depth[0],pt_wrt_depth[1],pt_wrt_depth[2]);
239  pt_wrt_color.noalias() = T_inv*pt_wrt_depth;
240 
241  // Project to image plane:
242  if (pt_wrt_color[2]) {
243  img_idx_x = mrpt::utils::round( cx + fx * pt_wrt_color[0]/pt_wrt_color[2] );
244  img_idx_y = mrpt::utils::round( cy + fy * pt_wrt_color[1]/pt_wrt_color[2] );
245  pointWithinImage=
246  img_idx_x>=0 && img_idx_x<imgW &&
247  img_idx_y>=0 && img_idx_y<imgH;
248  }
249  }
250 
251  if (pointWithinImage)
252  {
253  if (hasColorIntensityImg) {
254  const uint8_t *c= src_obs.intensityImage.get_unsafe(img_idx_x, img_idx_y, 0);
255  pCol.R = c[2];
256  pCol.G = c[1];
257  pCol.B = c[0];
258  }
259  else{
260  uint8_t c= *src_obs.intensityImage.get_unsafe(img_idx_x, img_idx_y, 0);
261  pCol.R = pCol.G = pCol.B = c;
262  }
263  }
264  else
265  {
266  pCol.R = pCol.G = pCol.B = 255;
267  }
268  // Set color:
269  pca.setPointRGBu8(i,pCol.R,pCol.G,pCol.B);
270  } // end for each point
271  } // end if src_obs has intensity image
272 
273  // ...
274 
275  // ------------------------------------------------------------
276  // Stage 3/3: Apply 6D transformations
277  // ------------------------------------------------------------
278  if (pp.takeIntoAccountSensorPoseOnRobot || pp.robotPoseInTheWorld)
279  {
280  mrpt::poses::CPose3D transf_to_apply; // Either ROBOTPOSE or ROBOTPOSE(+)SENSORPOSE or SENSORPOSE
281  if (pp.takeIntoAccountSensorPoseOnRobot)
282  transf_to_apply = src_obs.sensorPose;
283  if (pp.robotPoseInTheWorld)
284  transf_to_apply.composeFrom(*pp.robotPoseInTheWorld, mrpt::poses::CPose3D(transf_to_apply));
285 
286  const mrpt::math::CMatrixFixedNumeric<float,4,4> HM = transf_to_apply.getHomogeneousMatrixVal().cast<float>();
287  Eigen::Matrix<float,4,1> pt, pt_transf;
288  pt[3]=1;
289 
290  const size_t nPts = pca.size();
291  for (size_t i=0;i<nPts;i++)
292  {
293  pca.getPointXYZ(i,pt[0],pt[1],pt[2]);
294  pt_transf.noalias() = HM*pt;
295  pca.setPointXYZ(i,pt_transf[0],pt_transf[1],pt_transf[2]);
296  }
297  }
298  } // end of project3DPointsFromDepthImageInto
299 
300  // Auxiliary functions which implement (un)projection of 3D point clouds:
301  template <class POINTMAP>
302  inline void do_project_3d_pointcloud(
303  const int H, const int W, const float* kys, const float* kzs,
304  const mrpt::math::CMatrix& rangeImage,
305  mrpt::utils::PointCloudAdapter<POINTMAP>& pca,
306  std::vector<uint16_t>& idxs_x, std::vector<uint16_t>& idxs_y,
307  const mrpt::obs::TRangeImageFilterParams& fp, bool MAKE_DENSE,
308  const int DECIM)
309  {
310  TRangeImageFilter rif(fp);
311  // Preconditions: minRangeMask() has the right size
312  size_t idx = 0;
313  if (DECIM == 1)
314  {
315  for (int r = 0; r < H; r++)
316  for (int c = 0; c < W; c++)
317  {
318  const float D = rangeImage.coeff(r, c);
319  // LUT projection coefs:
320  const auto ky = *kys++, kz = *kzs++;
321  if (!rif.do_range_filter(r, c, D))
322  {
323  if (!MAKE_DENSE) pca.setInvalidPoint(idx++);
324  continue;
325  }
326  pca.setPointXYZ(idx, D /*x*/, ky * D /*y*/, kz * D /*z*/);
327  idxs_x[idx] = c;
328  idxs_y[idx] = r;
329  ++idx;
330  }
331  }
332  else
333  {
334  const int Hd = H / DECIM, Wd = W / DECIM;
335 
336  for (int rd = 0; rd < Hd; rd++)
337  for (int cd = 0; cd < Wd; cd++)
338  {
339  bool valid_pt = false;
340  float min_d = std::numeric_limits<float>::max();
341  for (int rb = 0; rb < DECIM; rb++)
342  for (int cb = 0; cb < DECIM; cb++)
343  {
344  const auto r = rd * DECIM + rb, c = cd * DECIM + cb;
345  const float D = rangeImage.coeff(r, c);
346  if (rif.do_range_filter(r, c, D))
347  {
348  valid_pt = true;
349  if (D < min_d) min_d = D;
350  }
351  }
352  if (!valid_pt)
353  {
354  if (!MAKE_DENSE) pca.setInvalidPoint(idx++);
355  continue;
356  }
357  const auto eq_r = rd * DECIM + DECIM / 2,
358  eq_c = cd * DECIM + DECIM / 2;
359  const auto ky = kys[eq_c + eq_r * W], kz = kzs[eq_c + eq_r * W];
360  pca.setPointXYZ(
361  idx, min_d /*x*/, ky * min_d /*y*/, kz * min_d /*z*/);
362  idxs_x[idx] = eq_c;
363  idxs_y[idx] = eq_r;
364  ++idx;
365  }
366  }
367  pca.resize(idx);
368  }
369 
370  // Auxiliary functions which implement (un)projection of 3D point clouds:
371  template <class POINTMAP>
372  inline 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,const mrpt::obs::TRangeImageFilterParams &filterParams, bool MAKE_DENSE)
373  {
374  #if MRPT_HAS_SSE2
375  // Preconditions: minRangeMask() has the right size
376  // Use optimized version:
377  const int W_4 = W >> 2; // /=4 , since we process 4 values at a time.
378  size_t idx=0;
379  MRPT_ALIGN16 float xs[4],ys[4],zs[4];
380  const __m128 D_zeros = _mm_set_ps(.0f,.0f,.0f,.0f);
381  const __m128 xormask = (filterParams.rangeCheckBetween) ?
382  _mm_cmpneq_ps(D_zeros,D_zeros) : // want points BETWEEN min and max to be valid
383  _mm_cmpeq_ps(D_zeros,D_zeros); // want points OUTSIDE of min and max to be valid
384  for (int r=0;r<H;r++)
385  {
386  const float *D_ptr = &rangeImage.coeffRef(r,0); // Matrices are 16-aligned
387  const float *Dgt_ptr = !filterParams.rangeMask_min ? NULL : &filterParams.rangeMask_min->coeffRef(r,0);
388  const float *Dlt_ptr = !filterParams.rangeMask_max ? NULL : &filterParams.rangeMask_max->coeffRef(r,0);
389 
390  for (int c=0;c<W_4;c++)
391  {
392  const __m128 D = _mm_load_ps(D_ptr);
393  const __m128 nz_mask = _mm_cmpgt_ps(D, D_zeros);
394  __m128 valid_range_mask;
395  if (!filterParams.rangeMask_min && !filterParams.rangeMask_max)
396  { // No filter: just skip D=0 points
397  valid_range_mask = nz_mask;
398  }
399  else
400  {
401  if (!filterParams.rangeMask_min || !filterParams.rangeMask_max)
402  { // Only one filter
403  if (filterParams.rangeMask_min)
404  {
405  const __m128 Dmin = _mm_load_ps(Dgt_ptr);
406  valid_range_mask = _mm_and_ps(_mm_cmpgt_ps(D, Dmin ), _mm_cmpgt_ps(Dmin, D_zeros));
407  }
408  else
409  {
410  const __m128 Dmax = _mm_load_ps(Dlt_ptr);
411  valid_range_mask = _mm_and_ps(_mm_cmplt_ps(D, Dmax ), _mm_cmpgt_ps(Dmax, D_zeros));
412  }
413  valid_range_mask = _mm_and_ps(valid_range_mask, nz_mask ); // Filter out D=0 points
414  }
415  else
416  {
417  // We have both: D>Dmin and D<Dmax conditions, with XOR to optionally invert the selection:
418  const __m128 Dmin = _mm_load_ps(Dgt_ptr);
419  const __m128 Dmax = _mm_load_ps(Dlt_ptr);
420 
421  const __m128 gt_mask = _mm_cmpgt_ps(D, Dmin );
422  const __m128 lt_mask = _mm_and_ps( _mm_cmplt_ps(D, Dmax), nz_mask ); // skip points at zero
423  valid_range_mask = _mm_and_ps(gt_mask, lt_mask ); // (D>Dmin && D<Dmax)
424  valid_range_mask = _mm_xor_ps(valid_range_mask, xormask );
425  // Add the case of D_min & D_max = 0 (no filtering)
426  valid_range_mask = _mm_or_ps(valid_range_mask, _mm_and_ps(_mm_cmpeq_ps(Dmin,D_zeros),_mm_cmpeq_ps(Dmax,D_zeros)) );
427  // Finally, ensure no invalid ranges get thru:
428  valid_range_mask = _mm_and_ps(valid_range_mask, nz_mask );
429  }
430  }
431  const int valid_range_maski = _mm_movemask_epi8(_mm_castps_si128(valid_range_mask)); // 0x{f|0}{f|0}{f|0}{f|0}
432  if (valid_range_maski!=0) // Any of the 4 values is valid?
433  {
434  const __m128 KY = _mm_load_ps(kys);
435  const __m128 KZ = _mm_load_ps(kzs);
436 
437  _mm_storeu_ps(xs , D);
438  _mm_storeu_ps(ys , _mm_mul_ps(KY,D));
439  _mm_storeu_ps(zs , _mm_mul_ps(KZ,D));
440 
441  for (int q=0;q<4;q++)
442  if ((valid_range_maski & (1<<(q*4))) !=0) {
443  pca.setPointXYZ(idx,xs[q],ys[q],zs[q]);
444  idxs_x[idx]=(c<<2)+q;
445  idxs_y[idx]=r;
446  ++idx;
447  }
448  else if (!MAKE_DENSE)
449  {
450  pca.setInvalidPoint(idx);
451  ++idx;
452  }
453  }
454  else if (!MAKE_DENSE)
455  {
456  for( int q=0; q<4; q++)
457  {
458  pca.setInvalidPoint(idx);
459  ++idx;
460  }
461  }
462  D_ptr+=4;
463  if (Dgt_ptr) Dgt_ptr+=4;
464  if (Dlt_ptr) Dlt_ptr+=4;
465  kys+=4;
466  kzs+=4;
467  }
468  }
469  pca.resize(idx);
470  #endif
471  }
472 
473 } // End of namespace
474 } // End of namespace
475 } // End of namespace
476 #endif
mrpt::math::CMatrixFixedNumeric
A numeric matrix of compile-time fixed size.
Definition: CMatrixFixedNumeric.h:43
mrpt::math::CMatrix
This class is a "CSerializable" wrapper for "CMatrixFloat".
Definition: CMatrix.h:31
mrpt::obs::CObservation3DRangeScan
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
Definition: obs/CObservation3DRangeScan.h:146
mrpt::obs::CObservation3DRangeScan::resizePoints3DVectors
void resizePoints3DVectors(const size_t nPoints)
Use this method instead of resizing all three points3D_x, points3D_y & points3D_z to allow the usage ...
Definition: CObservation3DRangeScan.cpp:785
mrpt::obs::CObservation3DRangeScan::cameraParamsIntensity
mrpt::utils::TCamera cameraParamsIntensity
Projection parameters of the intensity (graylevel or RGB) camera.
Definition: obs/CObservation3DRangeScan.h:531
mrpt::obs::CObservation3DRangeScan::cameraParams
mrpt::utils::TCamera cameraParams
Projection parameters of the depth camera.
Definition: obs/CObservation3DRangeScan.h:530
mrpt::obs::CObservation3DRangeScan::hasIntensityImage
bool hasIntensityImage
true means the field intensityImage contains valid data
Definition: obs/CObservation3DRangeScan.h:347
mrpt::obs::CObservation3DRangeScan::relativePoseIntensityWRTDepth
mrpt::poses::CPose3D relativePoseIntensityWRTDepth
Relative pose of the intensity camera wrt the depth camera (which is the coordinates origin for this ...
Definition: obs/CObservation3DRangeScan.h:538
mrpt::obs::CObservation3DRangeScan::doDepthAndIntensityCamerasCoincide
bool doDepthAndIntensityCamerasCoincide() const
Return true if relativePoseIntensityWRTDepth equals the pure rotation (0,0,0,-90deg,...
Definition: CObservation3DRangeScan.cpp:866
mrpt::obs::CObservation3DRangeScan::points3D_idxs_y
std::vector< uint16_t > points3D_idxs_y
//!< If hasPoints3D=true, the (x,y) pixel coordinates for each (X,Y,Z) point in points3D_x,...
Definition: obs/CObservation3DRangeScan.h:294
mrpt::obs::CObservation3DRangeScan::hasRangeImage
bool hasRangeImage
true means the field rangeImage contains valid data
Definition: obs/CObservation3DRangeScan.h:315
mrpt::obs::CObservation3DRangeScan::rangeImage
mrpt::math::CMatrix rangeImage
If hasRangeImage=true, a matrix of floats with the range data as captured by the camera (in meters)
Definition: obs/CObservation3DRangeScan.h:316
mrpt::obs::CObservation3DRangeScan::intensityImage
mrpt::utils::CImage intensityImage
If hasIntensityImage=true, a color or gray-level intensity image of the same size than "rangeImage".
Definition: obs/CObservation3DRangeScan.h:348
mrpt::obs::CObservation3DRangeScan::m_3dproj_lut
static TCached3DProjTables m_3dproj_lut
3D point cloud projection look-up-table
Definition: obs/CObservation3DRangeScan.h:578
mrpt::obs::CObservation3DRangeScan::sensorPose
mrpt::poses::CPose3D sensorPose
The 6D pose of the sensor on the robot.
Definition: obs/CObservation3DRangeScan.h:546
mrpt::obs::CObservation3DRangeScan::range_is_depth
bool range_is_depth
true: Kinect-like ranges: entries of rangeImage are distances along the +X axis; false: Ranges in ran...
Definition: obs/CObservation3DRangeScan.h:317
mrpt::poses::CPose3D
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:73
mrpt::poses::CPose3D::getRotationMatrix
void getRotationMatrix(mrpt::math::CMatrixDouble33 &ROT) const
Get the 3x3 rotation matrix.
Definition: CPose3D.h:176
mrpt::poses::CPose3D::getHomogeneousMatrixVal
mrpt::math::CMatrixDouble44 getHomogeneousMatrixVal() const
Definition: CPose3D.h:173
mrpt::poses::CPose3D::m_coords
mrpt::math::CArrayDouble< 3 > m_coords
The translation vector [x,y,z] access directly or with x(), y(), z() setter/getter methods.
Definition: CPose3D.h:81
mrpt::poses::CPose3D::composeFrom
void composeFrom(const CPose3D &A, const CPose3D &B)
Makes "this = A (+) B"; this method is slightly more efficient than "this= A + B;" since it avoids th...
Definition: CPose3D.cpp:595
mrpt::utils::CImage::get_unsafe
unsigned char * get_unsafe(unsigned int col, unsigned int row, unsigned int channel=0) const
Access to pixels without checking boundaries - Use normally the () operator better,...
Definition: CImage.cpp:491
mrpt::utils::CImage::isColor
bool isColor() const
Returns true if the image is RGB, false if it is grayscale.
Definition: CImage.cpp:898
mrpt::utils::CImage::getHeight
size_t getHeight() const MRPT_OVERRIDE
Returns the height of the image in pixels.
Definition: CImage.cpp:884
mrpt::utils::CImage::getWidth
size_t getWidth() const MRPT_OVERRIDE
Returns the width of the image in pixels.
Definition: CImage.cpp:855
mrpt::utils::PointCloudAdapter
An adapter to different kinds of point cloud object.
Definition: adapters.h:38
mrpt::utils::TCamera::cx
double cx() const
Get the value of the principal point x-coordinate (in pixels).
Definition: TCamera.h:154
mrpt::utils::TCamera::fx
double fx() const
Get the value of the focal length x-value (in pixels).
Definition: TCamera.h:158
mrpt::utils::TCamera::cy
double cy() const
Get the value of the principal point y-coordinate (in pixels).
Definition: TCamera.h:156
mrpt::utils::TCamera::fy
double fy() const
Get the value of the focal length y-value (in pixels).
Definition: TCamera.h:160
c
const GLubyte * c
Definition: glext.h:5590
r
GLdouble GLdouble GLdouble r
Definition: glext.h:3618
q
GLdouble GLdouble GLdouble GLdouble q
Definition: glext.h:3626
mrpt::utils::round
int round(const T value)
Returns the closer integer (int) to x.
Definition: round.h:26
ASSERT_EQUAL_
#define ASSERT_EQUAL_(__A, __B)
Definition: mrpt_macros.h:281
ASSERT_
#define ASSERT_(f)
Definition: mrpt_macros.h:278
MRPT_ALIGN16
#define MRPT_ALIGN16
Definition: mrpt_macros.h:138
ASSERTMSG_
#define ASSERTMSG_(f, __ERROR_MSG)
Definition: mrpt_macros.h:277
mrpt::math
This base provides a set of functions for maths stuff.
Definition: CArrayNumeric.h:20
mrpt::math::homogeneousMatrixInverse
void homogeneousMatrixInverse(const MATRIXLIKE1 &M, MATRIXLIKE2 &out_inverse_M)
Efficiently compute the inverse of a 4x4 homogeneous matrix by only transposing the rotation 3x3 part...
Definition: homog_matrices.h:27
mrpt::obs::detail::range2XYZ
void range2XYZ(mrpt::utils::PointCloudAdapter< POINTMAP > &pca, mrpt::obs::CObservation3DRangeScan &src_obs, const mrpt::obs::TRangeImageFilterParams &fp, const int H, const int W)
Definition: CObservation3DRangeScan_project3D_impl.h:22
mrpt::obs::detail::project3DPointsFromDepthImageInto
void project3DPointsFromDepthImageInto(mrpt::obs::CObservation3DRangeScan &src_obs, POINTMAP &dest_pointcloud, const mrpt::obs::T3DPointsProjectionParams &projectParams, const mrpt::obs::TRangeImageFilterParams &filterParams)
Definition: CObservation3DRangeScan_project3D_impl.h:123
mrpt::obs::detail::do_project_3d_pointcloud_SSE2
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, const mrpt::obs::TRangeImageFilterParams &filterParams, bool MAKE_DENSE)
Definition: CObservation3DRangeScan_project3D_impl.h:372
mrpt::obs::detail::do_project_3d_pointcloud
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, const mrpt::obs::TRangeImageFilterParams &filterParams, bool MAKE_DENSE, const int DECIM)
Definition: CObservation3DRangeScan_project3D_impl.h:302
mrpt::obs::detail::range2XYZ_LUT
void range2XYZ_LUT(mrpt::utils::PointCloudAdapter< POINTMAP > &pca, mrpt::obs::CObservation3DRangeScan &src_obs, const mrpt::obs::T3DPointsProjectionParams &pp, const mrpt::obs::TRangeImageFilterParams &fp, const int H, const int W, const int DECIM=1)
Definition: CObservation3DRangeScan_project3D_impl.h:64
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CParticleFilter.h:17
uint8_t
unsigned char uint8_t
Definition: rptypes.h:43
mrpt::obs::T3DPointsProjectionParams
Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()
Definition: obs/CObservation3DRangeScan.h:32
mrpt::obs::T3DPointsProjectionParams::PROJ3D_USE_LUT
bool PROJ3D_USE_LUT
(Default:true) [Only used when range_is_depth=true] Whether to use a Look-up-table (LUT) to speed up ...
Definition: obs/CObservation3DRangeScan.h:35
mrpt::obs::T3DPointsProjectionParams::takeIntoAccountSensorPoseOnRobot
bool takeIntoAccountSensorPoseOnRobot
(Default: false) If false, local (sensor-centric) coordinates of points are generated....
Definition: obs/CObservation3DRangeScan.h:33
mrpt::obs::T3DPointsProjectionParams::MAKE_DENSE
bool MAKE_DENSE
(Default:true) set to false if you want to preserve the organization of the point cloud
Definition: obs/CObservation3DRangeScan.h:37
mrpt::obs::T3DPointsProjectionParams::USE_SSE2
bool USE_SSE2
(Default:true) If possible, use SSE2 optimized code.
Definition: obs/CObservation3DRangeScan.h:36
mrpt::obs::T3DPointsProjectionParams::decimation
uint8_t decimation
(Default:1) If !=1, split the range image in blocks of DxD (D=decimation), and only generates one poi...
Definition: obs/CObservation3DRangeScan.h:41
mrpt::obs::T3DPointsProjectionParams::robotPoseInTheWorld
const mrpt::poses::CPose3D * robotPoseInTheWorld
(Default: NULL) Read takeIntoAccountSensorPoseOnRobot
Definition: obs/CObservation3DRangeScan.h:34
mrpt::obs::TRangeImageFilter
Mainly for internal use within CObservation3DRangeScan::project3DPointsFromDepthImageInto()
Definition: TRangeImageFilter.h:39
mrpt::obs::TRangeImageFilter::do_range_filter
bool do_range_filter(size_t r, size_t c, const float D) const
Returns true if the point (r,c) with depth D passes all filters.
Definition: TRangeImageFilter.h:48
mrpt::obs::TRangeImageFilterParams
Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()
Definition: TRangeImageFilter.h:21
mrpt::obs::TRangeImageFilterParams::rangeCheckBetween
bool rangeCheckBetween
Only used if both rangeMask_min and rangeMask_max are present.
Definition: TRangeImageFilter.h:28
mrpt::obs::TRangeImageFilterParams::rangeMask_min
const mrpt::math::CMatrix * rangeMask_min
(Default: NULL) If provided, each data range will be tested to be greater-than (rangeMask_min) or les...
Definition: TRangeImageFilter.h:32
mrpt::obs::TRangeImageFilterParams::rangeMask_max
const mrpt::math::CMatrix * rangeMask_max
Definition: TRangeImageFilter.h:32
mrpt::utils::TColor
A RGB color - 8bit.
Definition: TColor.h:27


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