9 #ifndef TRangeImageFilter_H 10 #define CObservation3DRangeScan_H 63 if (D <= .0f)
return false;
65 bool pass_gt =
true, pass_lt =
true;
66 bool has_min_filter =
false, has_max_filter =
false;
72 has_min_filter =
true;
73 pass_gt = (D >= min_d);
81 has_max_filter =
true;
82 pass_lt = (D <= max_d);
85 if (has_min_filter && has_max_filter)
88 : !(pass_gt && pass_lt);
91 return pass_gt && pass_lt;
Mainly for internal use within CObservation3DRangeScan::project3DPointsFromDepthImageInto() ...
const mrpt::math::CMatrix * rangeMask_min
(Default: nullptr) If provided, each data range will be tested to be greater-than (rangeMask_min) or ...
TRangeImageFilterParams()
Used in CObservation3DRangeScan::project3DPointsFromDepthImageInto()
This namespace contains representation of robot actions and observations.
TRangeImageFilter(const TRangeImageFilterParams &filter_params)
TRangeImageFilterParams fp
GLdouble GLdouble GLdouble r
const mrpt::math::CMatrix * rangeMask_max
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.