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< div class = "headertitle" >< div class = "title" > util3d_mapping.hpp</ div ></ div >
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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
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< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
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< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef UTIL3D_MAPPING_HPP_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define UTIL3D_MAPPING_HPP_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include < rtabmap/core/util3d_filtering.h> </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "preprocessor" > #include < rtabmap/core/util3d.h> </ span ></ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < pcl/common/common.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < pcl/common/centroid.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < pcl/common/io.h> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span > </ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "keyword" > namespace </ span > util3d{</ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span > </ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
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< div class = "foldopen" id = "foldopen00041" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980" > 41</ a ></ span >< span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980" > projectCloudOnXYPlane</ a > (</ div >
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< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> & cloud)</ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > {</ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr output(< span class = "keyword" > new</ span > pcl::PointCloud< PointT> );</ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span > *output = cloud;</ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > < span class = "keywordflow" > for</ span > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i=0; i< output-> size(); ++i)</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > {</ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span > output-> at(i).z = 0;</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > }</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > < span class = "keywordflow" > return</ span > output;</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > }</ div >
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</ div >
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< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > </ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span >< span class = "keywordtype" > void</ span > segmentObstaclesFromGround(</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::IndicesPtr & indices,</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span > pcl::IndicesPtr & ground,</ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > pcl::IndicesPtr & obstacles,</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > < span class = "keywordtype" > int</ span > normalKSearch,</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > < span class = "keywordtype" > float</ span > groundNormalAngle,</ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > < span class = "keywordtype" > float</ span > clusterRadius,</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < span class = "keywordtype" > int</ span > minClusterSize,</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > < span class = "keywordtype" > bool</ span > segmentFlatObstacles,</ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < span class = "keywordtype" > float</ span > maxGroundHeight,</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > pcl::IndicesPtr * flatObstacles,</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > < span class = "keyword" > const</ span > Eigen::Vector4f & viewPoint,</ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span > < span class = "keywordtype" > float</ span > groundNormalsUp)</ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > {</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > ground.reset(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > obstacles.reset(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > < span class = "keywordflow" > if</ span > (flatObstacles)</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > {</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > flatObstacles-> reset(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > }</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > </ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > < span class = "keywordflow" > if</ span > (cloud-> size())</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > {</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "comment" > // Find the ground</ span ></ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > pcl::IndicesPtr flatSurfaces = < a class = "code hl_function" href = "group__PointNormalFiltering.html#ga7c7e3de2ff24fc3aadfb3eb0ae05314d" > normalFiltering</ a > (</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > cloud,</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > indices,</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > groundNormalAngle,</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > Eigen::Vector4f(0,0,1,0),</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > normalKSearch,</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > viewPoint,</ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span > groundNormalsUp);</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > </ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > < span class = "keywordflow" > if</ span > (flatSurfaces-> size() && </ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > (segmentFlatObstacles || maxGroundHeight != 0.0f || minClusterSize> 1))</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span > {</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span > < span class = "keywordtype" > int</ span > biggestFlatSurfaceIndex;</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > std::vector< pcl::IndicesPtr> clusteredFlatSurfaces = < a class = "code hl_function" href = "group__ExtractClusters.html#ga62a0d02930f5969cbff707afe01d1bcd" > extractClusters</ a > (</ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span > cloud,</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > flatSurfaces,</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > clusterRadius,</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > minClusterSize,</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > std::numeric_limits< int> ::max(),</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > & biggestFlatSurfaceIndex);</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > </ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > < span class = "comment" > // cluster all surfaces for which the centroid is in the Z-range of the bigger surface</ span ></ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > < span class = "keywordflow" > if</ span > (clusteredFlatSurfaces.size())</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span > {</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span > Eigen::Vector4f biggestSurfaceMin,biggestSurfaceMax;</ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span > < span class = "keywordflow" > if</ span > (maxGroundHeight != 0.0f)</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > {</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > < span class = "comment" > // Search for biggest surface under max ground height</ span ></ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > < span class = "keywordtype" > size_t</ span > points = 0;</ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span > biggestFlatSurfaceIndex = -1;</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > < span class = "keywordflow" > for</ span > (< span class = "keywordtype" > size_t</ span > i=0;i< clusteredFlatSurfaces.size();++i)</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > {</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > Eigen::Vector4f min,max;</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > pcl::getMinMax3D(*cloud, *clusteredFlatSurfaces.at(i), min, max);</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > < span class = "keywordflow" > if</ span > (min[2]< maxGroundHeight && clusteredFlatSurfaces.at(i)-> size() > points)</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > {</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > points = clusteredFlatSurfaces.at(i)-> size();</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > biggestFlatSurfaceIndex = i;</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > biggestSurfaceMin = min;</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > biggestSurfaceMax = max;</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > }</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > }</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > }</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > < span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > {</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > pcl::getMinMax3D(*cloud, *clusteredFlatSurfaces.at(biggestFlatSurfaceIndex), biggestSurfaceMin, biggestSurfaceMax);</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > }</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keywordflow" > if</ span > (biggestFlatSurfaceIndex> =0)</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > {</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > ground = clusteredFlatSurfaces.at(biggestFlatSurfaceIndex);</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > }</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > </ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordflow" > if</ span > (!ground-> empty() && (maxGroundHeight == 0.0f || biggestSurfaceMin[2] < maxGroundHeight))</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > {</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > < span class = "keywordflow" > for</ span > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i=0; i< clusteredFlatSurfaces.size(); ++i)</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > {</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > < span class = "keywordflow" > if</ span > ((< span class = "keywordtype" > int</ span > )i!=biggestFlatSurfaceIndex)</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > {</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > Eigen::Vector4f centroid(0,0,0,1);</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < span class = "keywordflow" > if</ span > ((maxGroundHeight!=0.0f && centroid[2] < = maxGroundHeight) ||</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > centroid[2] < = biggestSurfaceMax[2] ||</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > (maxGroundHeight==0.0f && !segmentFlatObstacles))</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > {</ div >
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< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > ground = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > util3d::concatenate</ a > (ground, clusteredFlatSurfaces.at(i));</ div >
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< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > }</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > < span class = "keywordflow" > else</ span > < span class = "keywordflow" > if</ span > (flatObstacles)</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > {</ div >
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< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > *flatObstacles = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > util3d::concatenate</ a > (*flatObstacles, clusteredFlatSurfaces.at(i));</ div >
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< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > }</ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > }</ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > }</ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ span > }</ div >
< div class = "line" >< a id = "l00152" name = "l00152" ></ a >< span class = "lineno" > 152</ span > < span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span > {</ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" > 154</ span > < span class = "comment" > // reject ground!</ span ></ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > ground.reset(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > < span class = "keywordflow" > if</ span > (flatObstacles)</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > {</ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > *flatObstacles = flatSurfaces;</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > }</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > }</ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > }</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > }</ div >
< div class = "line" >< a id = "l00163" name = "l00163" ></ a >< span class = "lineno" > 163</ span > < span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" > 164</ span > {</ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span > ground = flatSurfaces;</ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > }</ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > </ div >
< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" > 168</ span > < span class = "keywordflow" > if</ span > (ground-> size() != cloud-> size())</ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > {</ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > < span class = "comment" > // Remove ground</ span ></ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > pcl::IndicesPtr notObstacles = ground;</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > < span class = "keywordflow" > if</ span > (indices-> size())</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > {</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > notObstacles = < a class = "code hl_function" href = "group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7" > util3d::extractIndices</ a > (cloud, indices, < span class = "keyword" > true</ span > );</ div >
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< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > notObstacles = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > util3d::concatenate</ a > (notObstacles, ground);</ div >
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< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span > }</ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" > 177</ span > pcl::IndicesPtr otherStuffIndices = < a class = "code hl_function" href = "group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7" > util3d::extractIndices</ a > (cloud, notObstacles, < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > </ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > < span class = "comment" > // If ground height is set, remove obstacles under it</ span ></ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > < span class = "keywordflow" > if</ span > (maxGroundHeight != 0.0f)</ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > {</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > otherStuffIndices = < a class = "code hl_function" href = "group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473" > rtabmap::util3d::passThrough</ a > (cloud, otherStuffIndices, < span class = "stringliteral" > " z" </ span > , maxGroundHeight, std::numeric_limits< float> ::max());</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > }</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > </ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > < span class = "comment" > //Cluster remaining stuff (obstacles)</ span ></ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span > < span class = "keywordflow" > if</ span > (otherStuffIndices-> size())</ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > {</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > std::vector< pcl::IndicesPtr> clusteredObstaclesSurfaces = < a class = "code hl_function" href = "group__ExtractClusters.html#ga62a0d02930f5969cbff707afe01d1bcd" > util3d::extractClusters</ a > (</ div >
< div class = "line" >< a id = "l00189" name = "l00189" ></ a >< span class = "lineno" > 189</ span > cloud,</ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" > 190</ span > otherStuffIndices,</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > clusterRadius,</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > minClusterSize);</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > </ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "comment" > // merge indices</ span ></ div >
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< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > obstacles = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > util3d::concatenate</ a > (clusteredObstaclesSurfaces);</ div >
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< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > }</ div >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" > 197</ span > }</ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" > 198</ span > }</ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > }</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > </ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
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< div class = "foldopen" id = "foldopen00202" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a72b271fa98352180241614517ef3b21e" > 202</ a ></ span >< span class = "keywordtype" > void</ span > segmentObstaclesFromGround(</ div >
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< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > pcl::IndicesPtr & ground,</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > pcl::IndicesPtr & obstacles,</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > < span class = "keywordtype" > int</ span > normalKSearch,</ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" > 207</ span > < span class = "keywordtype" > float</ span > groundNormalAngle,</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > < span class = "keywordtype" > float</ span > clusterRadius,</ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > < span class = "keywordtype" > int</ span > minClusterSize,</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > < span class = "keywordtype" > bool</ span > segmentFlatObstacles,</ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span > < span class = "keywordtype" > float</ span > maxGroundHeight,</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > pcl::IndicesPtr * flatObstacles,</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > < span class = "keyword" > const</ span > Eigen::Vector4f & viewPoint,</ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > < span class = "keywordtype" > float</ span > groundNormalsUp)</ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > {</ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > pcl::IndicesPtr indices(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" > 217</ span > segmentObstaclesFromGround< PointT> (</ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > cloud,</ div >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" > 219</ span > indices,</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span > ground,</ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span > obstacles,</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > normalKSearch,</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > groundNormalAngle,</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > clusterRadius,</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > minClusterSize,</ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > segmentFlatObstacles,</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > maxGroundHeight,</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > flatObstacles,</ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span > viewPoint,</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > groundNormalsUp);</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > }</ div >
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</ div >
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< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > </ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
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< div class = "foldopen" id = "foldopen00234" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812" > 234</ a ></ span >< span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812" > occupancy2DFromGroundObstacles</ a > (</ div >
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< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & groundIndices,</ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & obstaclesIndices,</ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > < span class = "keywordtype" > float</ span > cellSize)</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > {</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr groundCloud(< span class = "keyword" > new</ span > pcl::PointCloud< PointT> );</ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr obstaclesCloud(< span class = "keyword" > new</ span > pcl::PointCloud< PointT> );</ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > </ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > < span class = "keywordflow" > if</ span > (groundIndices-> size())</ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span > {</ div >
< div class = "line" >< a id = "l00247" name = "l00247" ></ a >< span class = "lineno" > 247</ span > pcl::copyPointCloud(*cloud, *groundIndices, *groundCloud);</ div >
< div class = "line" >< a id = "l00248" name = "l00248" ></ a >< span class = "lineno" > 248</ span > }</ div >
< div class = "line" >< a id = "l00249" name = "l00249" ></ a >< span class = "lineno" > 249</ span > </ div >
< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" > 250</ span > < span class = "keywordflow" > if</ span > (obstaclesIndices-> size())</ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span > {</ div >
< div class = "line" >< a id = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > pcl::copyPointCloud(*cloud, *obstaclesIndices, *obstaclesCloud);</ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" > 253</ span > }</ div >
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > </ div >
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > occupancy2DFromGroundObstacles< PointT> (</ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span > groundCloud,</ div >
< div class = "line" >< a id = "l00257" name = "l00257" ></ a >< span class = "lineno" > 257</ span > obstaclesCloud,</ div >
< div class = "line" >< a id = "l00258" name = "l00258" ></ a >< span class = "lineno" > 258</ span > ground,</ div >
< div class = "line" >< a id = "l00259" name = "l00259" ></ a >< span class = "lineno" > 259</ span > obstacles,</ div >
< div class = "line" >< a id = "l00260" name = "l00260" ></ a >< span class = "lineno" > 260</ span > cellSize);</ div >
< div class = "line" >< a id = "l00261" name = "l00261" ></ a >< span class = "lineno" > 261</ span > }</ div >
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</ div >
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< div class = "line" >< a id = "l00262" name = "l00262" ></ a >< span class = "lineno" > 262</ span > </ div >
< div class = "line" >< a id = "l00263" name = "l00263" ></ a >< span class = "lineno" > 263</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
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< div class = "foldopen" id = "foldopen00264" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00264" name = "l00264" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a9b93d07997a94a78b6be6bd573e39148" > 264</ a ></ span >< span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812" > occupancy2DFromGroundObstacles</ a > (</ div >
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< div class = "line" >< a id = "l00265" name = "l00265" ></ a >< span class = "lineno" > 265</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & groundCloud,</ div >
< div class = "line" >< a id = "l00266" name = "l00266" ></ a >< span class = "lineno" > 266</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & obstaclesCloud,</ div >
< div class = "line" >< a id = "l00267" name = "l00267" ></ a >< span class = "lineno" > 267</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00268" name = "l00268" ></ a >< span class = "lineno" > 268</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00269" name = "l00269" ></ a >< span class = "lineno" > 269</ span > < span class = "keywordtype" > float</ span > cellSize)</ div >
< div class = "line" >< a id = "l00270" name = "l00270" ></ a >< span class = "lineno" > 270</ span > {</ div >
< div class = "line" >< a id = "l00271" name = "l00271" ></ a >< span class = "lineno" > 271</ span > ground = cv::Mat();</ div >
< div class = "line" >< a id = "l00272" name = "l00272" ></ a >< span class = "lineno" > 272</ span > < span class = "keywordflow" > if</ span > (groundCloud-> size())</ div >
< div class = "line" >< a id = "l00273" name = "l00273" ></ a >< span class = "lineno" > 273</ span > {</ div >
< div class = "line" >< a id = "l00274" name = "l00274" ></ a >< span class = "lineno" > 274</ span > < span class = "comment" > //project on XY plane</ span ></ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" > 275</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr groundCloudProjected;</ div >
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< div class = "line" >< a id = "l00276" name = "l00276" ></ a >< span class = "lineno" > 276</ span > groundCloudProjected = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980" > util3d::projectCloudOnXYPlane</ a > (*groundCloud);</ div >
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< div class = "line" >< a id = "l00277" name = "l00277" ></ a >< span class = "lineno" > 277</ span > < span class = "comment" > //voxelize to grid cell size</ span ></ div >
< div class = "line" >< a id = "l00278" name = "l00278" ></ a >< span class = "lineno" > 278</ span > groundCloudProjected = < a class = "code hl_function" href = "group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" > util3d::voxelize</ a > (groundCloudProjected, cellSize);</ div >
< div class = "line" >< a id = "l00279" name = "l00279" ></ a >< span class = "lineno" > 279</ span > </ div >
< div class = "line" >< a id = "l00280" name = "l00280" ></ a >< span class = "lineno" > 280</ span > ground = cv::Mat(1, (< span class = "keywordtype" > int</ span > )groundCloudProjected-> size(), CV_32FC2);</ div >
< div class = "line" >< a id = "l00281" name = "l00281" ></ a >< span class = "lineno" > 281</ span > < span class = "keywordflow" > for</ span > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i=0;i< groundCloudProjected-> size(); ++i)</ div >
< div class = "line" >< a id = "l00282" name = "l00282" ></ a >< span class = "lineno" > 282</ span > {</ div >
< div class = "line" >< a id = "l00283" name = "l00283" ></ a >< span class = "lineno" > 283</ span > cv::Vec2f * ptr = ground.ptr< cv::Vec2f> ();</ div >
< div class = "line" >< a id = "l00284" name = "l00284" ></ a >< span class = "lineno" > 284</ span > ptr[i][0] = groundCloudProjected-> at(i).x;</ div >
< div class = "line" >< a id = "l00285" name = "l00285" ></ a >< span class = "lineno" > 285</ span > ptr[i][1] = groundCloudProjected-> at(i).y;</ div >
< div class = "line" >< a id = "l00286" name = "l00286" ></ a >< span class = "lineno" > 286</ span > }</ div >
< div class = "line" >< a id = "l00287" name = "l00287" ></ a >< span class = "lineno" > 287</ span > }</ div >
< div class = "line" >< a id = "l00288" name = "l00288" ></ a >< span class = "lineno" > 288</ span > </ div >
< div class = "line" >< a id = "l00289" name = "l00289" ></ a >< span class = "lineno" > 289</ span > obstacles = cv::Mat();</ div >
< div class = "line" >< a id = "l00290" name = "l00290" ></ a >< span class = "lineno" > 290</ span > < span class = "keywordflow" > if</ span > (obstaclesCloud-> size())</ div >
< div class = "line" >< a id = "l00291" name = "l00291" ></ a >< span class = "lineno" > 291</ span > {</ div >
< div class = "line" >< a id = "l00292" name = "l00292" ></ a >< span class = "lineno" > 292</ span > < span class = "comment" > //project on XY plane</ span ></ div >
< div class = "line" >< a id = "l00293" name = "l00293" ></ a >< span class = "lineno" > 293</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr obstaclesCloudProjected;</ div >
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< div class = "line" >< a id = "l00294" name = "l00294" ></ a >< span class = "lineno" > 294</ span > obstaclesCloudProjected = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980" > util3d::projectCloudOnXYPlane</ a > (*obstaclesCloud);</ div >
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< div class = "line" >< a id = "l00295" name = "l00295" ></ a >< span class = "lineno" > 295</ span > < span class = "comment" > //voxelize to grid cell size</ span ></ div >
< div class = "line" >< a id = "l00296" name = "l00296" ></ a >< span class = "lineno" > 296</ span > obstaclesCloudProjected = < a class = "code hl_function" href = "group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" > util3d::voxelize</ a > (obstaclesCloudProjected, cellSize);</ div >
< div class = "line" >< a id = "l00297" name = "l00297" ></ a >< span class = "lineno" > 297</ span > </ div >
< div class = "line" >< a id = "l00298" name = "l00298" ></ a >< span class = "lineno" > 298</ span > obstacles = cv::Mat(1, (< span class = "keywordtype" > int</ span > )obstaclesCloudProjected-> size(), CV_32FC2);</ div >
< div class = "line" >< a id = "l00299" name = "l00299" ></ a >< span class = "lineno" > 299</ span > < span class = "keywordflow" > for</ span > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i=0;i< obstaclesCloudProjected-> size(); ++i)</ div >
< div class = "line" >< a id = "l00300" name = "l00300" ></ a >< span class = "lineno" > 300</ span > {</ div >
< div class = "line" >< a id = "l00301" name = "l00301" ></ a >< span class = "lineno" > 301</ span > cv::Vec2f * ptr = obstacles.ptr< cv::Vec2f> ();</ div >
< div class = "line" >< a id = "l00302" name = "l00302" ></ a >< span class = "lineno" > 302</ span > ptr[i][0] = obstaclesCloudProjected-> at(i).x;</ div >
< div class = "line" >< a id = "l00303" name = "l00303" ></ a >< span class = "lineno" > 303</ span > ptr[i][1] = obstaclesCloudProjected-> at(i).y;</ div >
< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" > 304</ span > }</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > }</ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span > }</ div >
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</ div >
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< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" > 307</ span > </ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" > 308</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
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< div class = "foldopen" id = "foldopen00309" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2" > 309</ a ></ span >< span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2" > occupancy2DFromCloud3D</ a > (</ div >
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< div class = "line" >< a id = "l00310" name = "l00310" ></ a >< span class = "lineno" > 310</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" > 311</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indices,</ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" > 312</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" > 313</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" > 315</ span > < span class = "keywordtype" > float</ span > groundNormalAngle,</ div >
< div class = "line" >< a id = "l00316" name = "l00316" ></ a >< span class = "lineno" > 316</ span > < span class = "keywordtype" > int</ span > minClusterSize,</ div >
< div class = "line" >< a id = "l00317" name = "l00317" ></ a >< span class = "lineno" > 317</ span > < span class = "keywordtype" > bool</ span > segmentFlatObstacles,</ div >
< div class = "line" >< a id = "l00318" name = "l00318" ></ a >< span class = "lineno" > 318</ span > < span class = "keywordtype" > float</ span > maxGroundHeight)</ div >
< div class = "line" >< a id = "l00319" name = "l00319" ></ a >< span class = "lineno" > 319</ span > {</ div >
< div class = "line" >< a id = "l00320" name = "l00320" ></ a >< span class = "lineno" > 320</ span > < span class = "keywordflow" > if</ span > (cloud-> size() == 0)</ div >
< div class = "line" >< a id = "l00321" name = "l00321" ></ a >< span class = "lineno" > 321</ span > {</ div >
< div class = "line" >< a id = "l00322" name = "l00322" ></ a >< span class = "lineno" > 322</ span > < span class = "keywordflow" > return</ span > ;</ div >
< div class = "line" >< a id = "l00323" name = "l00323" ></ a >< span class = "lineno" > 323</ span > }</ div >
< div class = "line" >< a id = "l00324" name = "l00324" ></ a >< span class = "lineno" > 324</ span > pcl::IndicesPtr groundIndices, obstaclesIndices;</ div >
< div class = "line" >< a id = "l00325" name = "l00325" ></ a >< span class = "lineno" > 325</ span > </ div >
< div class = "line" >< a id = "l00326" name = "l00326" ></ a >< span class = "lineno" > 326</ span > segmentObstaclesFromGround< PointT> (</ div >
< div class = "line" >< a id = "l00327" name = "l00327" ></ a >< span class = "lineno" > 327</ span > cloud,</ div >
< div class = "line" >< a id = "l00328" name = "l00328" ></ a >< span class = "lineno" > 328</ span > indices,</ div >
< div class = "line" >< a id = "l00329" name = "l00329" ></ a >< span class = "lineno" > 329</ span > groundIndices,</ div >
< div class = "line" >< a id = "l00330" name = "l00330" ></ a >< span class = "lineno" > 330</ span > obstaclesIndices,</ div >
< div class = "line" >< a id = "l00331" name = "l00331" ></ a >< span class = "lineno" > 331</ span > 20,</ div >
< div class = "line" >< a id = "l00332" name = "l00332" ></ a >< span class = "lineno" > 332</ span > groundNormalAngle,</ div >
< div class = "line" >< a id = "l00333" name = "l00333" ></ a >< span class = "lineno" > 333</ span > cellSize*2.0f,</ div >
< div class = "line" >< a id = "l00334" name = "l00334" ></ a >< span class = "lineno" > 334</ span > minClusterSize,</ div >
< div class = "line" >< a id = "l00335" name = "l00335" ></ a >< span class = "lineno" > 335</ span > segmentFlatObstacles,</ div >
< div class = "line" >< a id = "l00336" name = "l00336" ></ a >< span class = "lineno" > 336</ span > maxGroundHeight);</ div >
< div class = "line" >< a id = "l00337" name = "l00337" ></ a >< span class = "lineno" > 337</ span > </ div >
< div class = "line" >< a id = "l00338" name = "l00338" ></ a >< span class = "lineno" > 338</ span > occupancy2DFromGroundObstacles< PointT> (</ div >
< div class = "line" >< a id = "l00339" name = "l00339" ></ a >< span class = "lineno" > 339</ span > cloud,</ div >
< div class = "line" >< a id = "l00340" name = "l00340" ></ a >< span class = "lineno" > 340</ span > groundIndices,</ div >
< div class = "line" >< a id = "l00341" name = "l00341" ></ a >< span class = "lineno" > 341</ span > obstaclesIndices,</ div >
< div class = "line" >< a id = "l00342" name = "l00342" ></ a >< span class = "lineno" > 342</ span > ground,</ div >
< div class = "line" >< a id = "l00343" name = "l00343" ></ a >< span class = "lineno" > 343</ span > obstacles,</ div >
< div class = "line" >< a id = "l00344" name = "l00344" ></ a >< span class = "lineno" > 344</ span > cellSize);</ div >
< div class = "line" >< a id = "l00345" name = "l00345" ></ a >< span class = "lineno" > 345</ span > }</ div >
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</ div >
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< div class = "line" >< a id = "l00346" name = "l00346" ></ a >< span class = "lineno" > 346</ span > </ div >
< div class = "line" >< a id = "l00347" name = "l00347" ></ a >< span class = "lineno" > 347</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
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< div class = "foldopen" id = "foldopen00348" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00348" name = "l00348" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a969e2d135e91a6e2ace68850086ae0e9" > 348</ a ></ span >< span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2" > occupancy2DFromCloud3D</ a > (</ div >
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< div class = "line" >< a id = "l00349" name = "l00349" ></ a >< span class = "lineno" > 349</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00350" name = "l00350" ></ a >< span class = "lineno" > 350</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00351" name = "l00351" ></ a >< span class = "lineno" > 351</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00352" name = "l00352" ></ a >< span class = "lineno" > 352</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" > 353</ span > < span class = "keywordtype" > float</ span > groundNormalAngle,</ div >
< div class = "line" >< a id = "l00354" name = "l00354" ></ a >< span class = "lineno" > 354</ span > < span class = "keywordtype" > int</ span > minClusterSize,</ div >
< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" > 355</ span > < span class = "keywordtype" > bool</ span > segmentFlatObstacles,</ div >
< div class = "line" >< a id = "l00356" name = "l00356" ></ a >< span class = "lineno" > 356</ span > < span class = "keywordtype" > float</ span > maxGroundHeight)</ div >
< div class = "line" >< a id = "l00357" name = "l00357" ></ a >< span class = "lineno" > 357</ span > {</ div >
< div class = "line" >< a id = "l00358" name = "l00358" ></ a >< span class = "lineno" > 358</ span > pcl::IndicesPtr indices(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00359" name = "l00359" ></ a >< span class = "lineno" > 359</ span > occupancy2DFromCloud3D< PointT> (cloud, indices, ground, obstacles, cellSize, groundNormalAngle, minClusterSize, segmentFlatObstacles, maxGroundHeight);</ div >
< div class = "line" >< a id = "l00360" name = "l00360" ></ a >< span class = "lineno" > 360</ span > }</ div >
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</ div >
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< div class = "line" >< a id = "l00361" name = "l00361" ></ a >< span class = "lineno" > 361</ span > </ div >
< div class = "line" >< a id = "l00362" name = "l00362" ></ a >< span class = "lineno" > 362</ span > }</ div >
< div class = "line" >< a id = "l00363" name = "l00363" ></ a >< span class = "lineno" > 363</ span > }</ div >
< div class = "line" >< a id = "l00364" name = "l00364" ></ a >< span class = "lineno" > 364</ span > </ div >
< div class = "line" >< a id = "l00365" name = "l00365" ></ a >< span class = "lineno" > 365</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* UTIL3D_MAPPING_HPP_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "agroup__ExtractClusters_html_ga62a0d02930f5969cbff707afe01d1bcd" >< div class = "ttname" >< a href = "group__ExtractClusters.html#ga62a0d02930f5969cbff707afe01d1bcd" > rtabmap::util3d::extractClusters</ a ></ div >< div class = "ttdeci" > std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int > ::max(), int *biggestClusterIndex=0)</ div >< div class = "ttdoc" > Extract clusters from point cloud of type pcl::PointXYZ.</ div ></ div >
< div class = "ttc" id = "agroup__ExtractIndices_html_ga8685395807479f06b19d9d41616a03a7" >< div class = "ttname" >< a href = "group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7" > rtabmap::util3d::extractIndices</ a ></ div >< div class = "ttdeci" > pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, const pcl::IndicesPtr & indices, bool negative)</ div >< div class = "ttdoc" > Extract indices from point cloud of type pcl::PointXYZ.</ div ></ div >
< div class = "ttc" id = "agroup__PassThrough_html_ga7bfc95ed4f7fca124b00707708223473" >< div class = "ttname" >< a href = "group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473" > rtabmap::util3d::passThrough</ a ></ div >< div class = "ttdeci" > pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, const pcl::IndicesPtr & indices, const std::string & axis, float min, float max, bool negative=false)</ div >< div class = "ttdoc" > Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.</ div ></ div >
< div class = "ttc" id = "agroup__PointNormalFiltering_html_ga7c7e3de2ff24fc3aadfb3eb0ae05314d" >< div class = "ttname" >< a href = "group__PointNormalFiltering.html#ga7c7e3de2ff24fc3aadfb3eb0ae05314d" > rtabmap::util3d::normalFiltering</ a ></ div >< div class = "ttdeci" > pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, float angleMax, const Eigen::Vector4f & normal, int normalKSearch, const Eigen::Vector4f & viewpoint, float groundNormalsUp=0.0f)</ div >< div class = "ttdoc" > Point normal filtering for point cloud of type pcl::PointXYZ.</ div ></ div >
< div class = "ttc" id = "agroup__VoxelFiltering_html_gad8d88a06174857cf53b1dc2cf2310d89" >< div class = "ttname" >< a href = "group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" > rtabmap::util3d::voxelize</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, const pcl::IndicesPtr & indices, float voxelSize)</ div >< div class = "ttdoc" > Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.</ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a3bdae076cc5054f35393b744f478b980" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980" > rtabmap::util3d::projectCloudOnXYPlane</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< PointT > ::Ptr projectCloudOnXYPlane(const typename pcl::PointCloud< PointT > & cloud)</ div >< div class = "ttdoc" > Projects a point cloud onto the XY plane by setting all Z coordinates to zero.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "util3d__mapping_8hpp_source.html#l00041" > util3d_mapping.hpp:41</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a7d90f3a00301f9f7c79cd6fc6cd663c2" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2" > rtabmap::util3d::occupancy2DFromCloud3D</ a ></ div >< div class = "ttdeci" > void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT > ::Ptr & cloud, const pcl::IndicesPtr & indices, cv::Mat & ground, cv::Mat & obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)</ div >< div class = "ttdoc" > Generates 2D ground and obstacle occupancy data from a 3D point cloud.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "util3d__mapping_8hpp_source.html#l00309" > util3d_mapping.hpp:309</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_ab156e4308c21e118ea0aa164a5ae9812" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812" > rtabmap::util3d::occupancy2DFromGroundObstacles</ a ></ div >< div class = "ttdeci" > void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT > ::Ptr & cloud, const pcl::IndicesPtr & groundIndices, const pcl::IndicesPtr & obstaclesIndices, cv::Mat & ground, cv::Mat & obstacles, float cellSize)</ div >< div class = "ttdoc" > Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupanc...</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "util3d__mapping_8hpp_source.html#l00234" > util3d_mapping.hpp:234</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_aff3c61a08b0fcad7f1c3f7c847190969" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > rtabmap::util3d::concatenate</ a ></ div >< div class = "ttdeci" > pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > & indices)</ div >< div class = "ttdoc" > Concatenates multiple sets of indices into a single index vector.</ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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