64 if (D <= .0f)
return false;
66 bool pass_gt =
true, pass_lt =
true;
67 bool has_min_filter =
false, has_max_filter =
false;
73 has_min_filter =
true;
74 pass_gt = (D >= min_d);
82 has_max_filter =
true;
83 pass_lt = (D <= max_d);
86 if (has_min_filter && has_max_filter)
89 : !(pass_gt && pass_lt);
92 return pass_gt && pass_lt;
Mainly for internal use within CObservation3DRangeScan::unprojectInto()
TRangeImageFilterParams()=default
Used in CObservation3DRangeScan::unprojectInto()
const mrpt::math::CMatrixF * rangeMask_max
TRangeImageFilter()=default
This namespace contains representation of robot actions and observations.
TRangeImageFilter(const TRangeImageFilterParams &filter_params)
TRangeImageFilterParams fp
const mrpt::math::CMatrixF * rangeMask_min
(Default: nullptr) If provided, each data range will be tested to be greater-than (rangeMask_min) or ...
bool mark_invalid_ranges
If enabled, the range pixels of points that do NOT pass the mask filter will be marked as invalid ran...
const Scalar & coeff(int r, int c) const
This class is a "CSerializable" wrapper for "CMatrixFloat".
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.
bool rangeCheckBetween
Only used if both rangeMask_min and rangeMask_max are present.