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< div class = "headertitle" >< div class = "title" > LocalMapMaker.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 = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
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< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ 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 >
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< 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 CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_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_mapping.h> </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "preprocessor" > #include < rtabmap/core/util3d_transforms.h> </ span ></ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < < a class = "code" href = "ULogger_8h.html" > rtabmap/utilite/ULogger.h</ a > > </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span > </ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ 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" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
< div class = "foldopen" id = "foldopen00038" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda" > 38</ a ></ span >< span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr < a class = "code hl_function" href = "classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda" > LocalGridMaker::segmentCloud</ a > (</ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr & cloudIn,</ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indicesIn,</ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose,</ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span > < span class = "keyword" > const</ span > cv::Point3f & viewPoint,</ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > pcl::IndicesPtr & groundIndices,</ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span > pcl::IndicesPtr & obstaclesIndices,</ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span > pcl::IndicesPtr * flatObstacles)< span class = "keyword" > const</ span ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span >< span class = "keyword" ></ span > {</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > groundIndices.reset(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span > obstaclesIndices.reset(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > < span class = "keywordflow" > if</ span > (flatObstacles)</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > {</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > flatObstacles-> reset(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< 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 > </ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > < a class = "code hl_define" href = "ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e" > UASSERT</ a > (cloudIn.get());</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > < a class = "code hl_define" href = "ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e" > UASSERT</ a > (indicesIn.get());</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > < span class = "keywordflow" > if</ span > (cloudIn-> empty())</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span > {</ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > < span class = "keywordflow" > return</ span > cloudIn;</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > }</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > </ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> ::Ptr cloud(< span class = "keyword" > new</ span > pcl::PointCloud< PointT> );</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > pcl::IndicesPtr indices(< span class = "keyword" > new</ span > std::vector< int> );</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > </ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < span class = "keywordflow" > if</ span > (preVoxelFiltering_)</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > {</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > < span class = "comment" > // voxelize to grid cell size</ span ></ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span > cloud = < a class = "code hl_function" href = "group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" > util3d::voxelize</ a > (cloudIn, indicesIn, cellSize_);</ 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 > indices-> resize(cloud-> size());</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > < span class = "keywordflow" > for</ span > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i=0; i< indices-> size(); ++i)</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > {</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > indices-> at(i) = i;</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > }</ 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 > < span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > {</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > cloud = cloudIn;</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "keywordflow" > if</ span > (indicesIn-> empty() && cloud-> is_dense)</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > {</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > indices-> resize(cloud-> size());</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > < span class = "keywordflow" > for</ span > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > i=0; i< indices-> size(); ++i)</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > {</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > indices-> at(i) = i;</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > }</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > }</ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span > < span class = "keywordflow" > else</ span ></ 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 > indices = indicesIn;</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > }</ 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 > </ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > < span class = "keywordflow" > if</ span > (cloud-> empty())</ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span > {</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > < span class = "keywordflow" > return</ span > cloud;</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > }</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > </ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > < span class = "comment" > // add pose rotation without yaw</ span ></ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > < span class = "keywordtype" > float</ span > roll, pitch, yaw;</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > pose.< a class = "code hl_function" href = "classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525" > getEulerAngles</ a > (roll, pitch, yaw);</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " node.getPose()=%s projMapFrame_=%d" </ span > , pose.< a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818" > prettyPrint</ a > ().c_str(), projMapFrame_?1:0);</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > cloud = < a class = "code hl_function" href = "group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69" > util3d::transformPointCloud</ a > (cloud, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (0,0, projMapFrame_?pose.< a class = "code hl_function" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > ():0, roll, pitch, 0));</ 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 > < span class = "comment" > // filter footprint</ span ></ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span > < span class = "keywordflow" > if</ span > (footprintLength_ > 0.0f || footprintWidth_ > 0.0f || footprintHeight_ > 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 > indices = < a class = "code hl_function" href = "group__CropBox.html#ga8291151381ff38773e641740b66b93ef" > util3d::cropBox</ a > (</ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > cloud,</ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span > indices,</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > Eigen::Vector4f(</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > footprintLength_> 0.0f?-footprintLength_/2.0f:std::numeric_limits< int> ::min(),</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > footprintWidth_> 0.0f&& footprintLength_> 0.0f?-footprintWidth_/2.0f:std::numeric_limits< int> ::min(),</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > 0,</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > 1),</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > Eigen::Vector4f(</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > footprintLength_> 0.0f?footprintLength_/2.0f:std::numeric_limits< int> ::max(),</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > footprintWidth_> 0.0f&& footprintLength_> 0.0f?footprintWidth_/2.0f:std::numeric_limits< int> ::max(),</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > footprintHeight_> 0.0f&& footprintLength_> 0.0f&& footprintWidth_> 0.0f?footprintHeight_:std::numeric_limits< int> ::max(),</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > 1),</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (),</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > < span class = "keyword" > true</ 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 > </ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > < span class = "comment" > // filter ground/obstacles zone</ span ></ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > < span class = "keywordflow" > if</ span > (minGroundHeight_ != 0.0f || maxObstacleHeight_ != 0.0f)</ 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 > indices = < a class = "code hl_function" href = "group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473" > util3d::passThrough</ a > (cloud, indices, < span class = "stringliteral" > " z" </ span > ,</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits< int> ::min(),</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > maxObstacleHeight_> 0.0f?maxObstacleHeight_:std::numeric_limits< int> ::max());</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " indices after max obstacles height filtering = %d" </ span > , (< span class = "keywordtype" > int</ span > )indices-> size());</ 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 > </ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > < span class = "keywordflow" > if</ span > (indices-> size())</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > {</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > < span class = "keywordflow" > if</ span > (normalsSegmentation_ && !groundIsObstacle_)</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > {</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " normalKSearch=%d" </ span > , normalKSearch_);</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " maxGroundAngle=%f" </ span > , maxGroundAngle_);</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " Cluster radius=%f" </ span > , clusterRadius_);</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " flatObstaclesDetected=%d" </ span > , flatObstaclesDetected_?1:0);</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " maxGroundHeight=%f" </ span > , maxGroundHeight_);</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " groundNormalsUp=%f" </ span > , groundNormalsUp_);</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > util3d::segmentObstaclesFromGround< PointT> (</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > cloud,</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > indices,</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > groundIndices,</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > obstaclesIndices,</ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > normalKSearch_,</ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > maxGroundAngle_,</ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > clusterRadius_,</ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > minClusterSize_,</ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ span > flatObstaclesDetected_,</ div >
< div class = "line" >< a id = "l00152" name = "l00152" ></ a >< span class = "lineno" > 152</ span > maxGroundHeight_,</ div >
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span > flatObstacles,</ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" > 154</ span > Eigen::Vector4f(viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.< a class = "code hl_function" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > ():0), 1),</ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > groundNormalsUp_);</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " viewPoint=%f,%f,%f" </ span > , viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.< a class = "code hl_function" href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > z</ a > ():0));</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > < span class = "comment" > //UWARN(" Saving ground.pcd and obstacles.pcd" );</ span ></ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > < span class = "comment" > //pcl::io::savePCDFile(" ground.pcd" , *cloud, *groundIndices);</ span ></ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > < span class = "comment" > //pcl::io::savePCDFile(" obstacles.pcd" , *cloud, *obstaclesIndices);</ 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 > < span class = "keywordflow" > else</ 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 > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > "" </ span > );</ div >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" > 164</ span > < span class = "comment" > // passthrough filter</ span ></ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span > groundIndices = < a class = "code hl_function" href = "group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473" > rtabmap::util3d::passThrough</ a > (cloud, indices, < span class = "stringliteral" > " z" </ span > ,</ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits< int> ::min(),</ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > maxGroundHeight_!=0.0f?maxGroundHeight_:std::numeric_limits< int> ::max());</ div >
< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" > 168</ span > </ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > pcl::IndicesPtr notObstacles = groundIndices;</ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > < span class = "keywordflow" > if</ span > (indices-> size())</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > {</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > notObstacles = < a class = "code hl_function" href = "group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7" > util3d::extractIndices</ a > (cloud, indices, < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > notObstacles = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > util3d::concatenate</ a > (notObstacles, groundIndices);</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > }</ div >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > obstaclesIndices = < a class = "code hl_function" href = "group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7" > rtabmap::util3d::extractIndices</ a > (cloud, notObstacles, < span class = "keyword" > true</ span > );</ div >
< 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 > </ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " groundIndices=%d obstaclesIndices=%d" </ span > , (< span class = "keywordtype" > int</ span > )groundIndices-> size(), (< span class = "keywordtype" > int</ span > )obstaclesIndices-> size());</ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > </ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > < span class = "comment" > // Do radius filtering after voxel filtering ( a lot faster)</ span ></ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > < span class = "keywordflow" > if</ span > (noiseFilteringRadius_ > 0.0 && noiseFilteringMinNeighbors_ > 0)</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > {</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " Radius filtering (%ld ground %ld obstacles, radius=%f k=%d)" </ span > ,</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > groundIndices-> size(),</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > obstaclesIndices-> size()+(flatObstacles?(*flatObstacles)-> size():0),</ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span > noiseFilteringRadius_,</ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > noiseFilteringMinNeighbors_);</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > < span class = "keywordflow" > if</ span > (groundIndices-> size())</ div >
< div class = "line" >< a id = "l00189" name = "l00189" ></ a >< span class = "lineno" > 189</ span > {</ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" > 190</ span > pcl::IndicesPtr farIndices;</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > < span class = "keywordflow" > if</ span > (rangeMax_!=0)</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > {</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > < span class = "comment" > // Don' t filter points farther than maximum range, in case we want to ray trace empty space</ span ></ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > pcl::IndicesPtr closeIndices;</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > < a class = "code hl_function" href = "group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446" > rtabmap::util3d::rangeSplitFiltering</ a > (cloud, groundIndices, rangeMax_, closeIndices, farIndices);</ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > groundIndices = closeIndices;</ 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 > groundIndices = < a class = "code hl_function" href = "group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08" > rtabmap::util3d::radiusFiltering</ a > (cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > < span class = "keywordflow" > if</ span > (farIndices.get())</ 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 > groundIndices = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > rtabmap::util3d::concatenate</ a > (groundIndices, farIndices);</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > }</ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > }</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > < span class = "keywordflow" > if</ span > (obstaclesIndices-> size())</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > {</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > pcl::IndicesPtr farIndices;</ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" > 207</ span > < span class = "keywordflow" > if</ span > (rangeMax_!=0)</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > {</ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > < span class = "comment" > // Don' t filter points farther than maximum range, in case we want to ray trace empty space</ span ></ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > pcl::IndicesPtr closeIndices;</ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span > < a class = "code hl_function" href = "group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446" > rtabmap::util3d::rangeSplitFiltering</ a > (cloud, obstaclesIndices, rangeMax_, closeIndices, farIndices);</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > obstaclesIndices = closeIndices;</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > }</ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > obstaclesIndices = < a class = "code hl_function" href = "group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08" > rtabmap::util3d::radiusFiltering</ a > (cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > < span class = "keywordflow" > if</ span > (farIndices.get())</ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > {</ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" > 217</ span > obstaclesIndices = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > rtabmap::util3d::concatenate</ a > (obstaclesIndices, farIndices);</ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > }</ div >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" > 219</ span > }</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span > < span class = "keywordflow" > if</ span > (flatObstacles && (*flatObstacles)-> size())</ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span > {</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > pcl::IndicesPtr farIndices;</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < span class = "keywordflow" > if</ span > (rangeMax_!=0)</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > {</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < span class = "comment" > // Don' t filter points farther than maximum range, in case we want to ray trace empty space</ span ></ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > pcl::IndicesPtr closeIndices;</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > < a class = "code hl_function" href = "group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446" > rtabmap::util3d::rangeSplitFiltering</ a > (cloud, *flatObstacles, rangeMax_, closeIndices, farIndices);</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > *flatObstacles = closeIndices;</ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span > }</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > *flatObstacles = < a class = "code hl_function" href = "group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08" > rtabmap::util3d::radiusFiltering</ a > (cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > < span class = "keywordflow" > if</ span > (farIndices.get())</ div >
< 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 > *flatObstacles = < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > rtabmap::util3d::concatenate</ a > (*flatObstacles, farIndices);</ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" > 234</ span > }</ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span > }</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > < a class = "code hl_define" href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a > (< span class = "stringliteral" > " Radius filtering end (%ld ground %ld obstacles)" </ span > ,</ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > groundIndices-> size(),</ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > obstaclesIndices-> size()+(flatObstacles?(*flatObstacles)-> size():0));</ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > </ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > < span class = "keywordflow" > if</ span > (groundIndices-> empty() && obstaclesIndices-> empty())</ 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 > < a class = "code hl_define" href = "ULogger_8h.html#ab5a739ad9340455e46eaa570f8223d9a" > UWARN</ a > (< span class = "stringliteral" > " Cloud (with %d points) is empty after noise " </ span ></ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > < span class = "stringliteral" > " filtering. Occupancy grid cannot be " </ span ></ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > < span class = "stringliteral" > " created." </ span > ,</ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > (< span class = "keywordtype" > int</ span > )cloud-> 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 > }</ 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" > return</ span > cloud;</ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > </ 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 > </ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aULogger_8h_html" >< div class = "ttname" >< a href = "ULogger_8h.html" > ULogger.h</ a ></ div >< div class = "ttdoc" > ULogger class and convenient macros.</ div ></ div >
< div class = "ttc" id = "aULogger_8h_html_a9104cb408bf9019db2a2c4476835db4a" >< div class = "ttname" >< a href = "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a" > UDEBUG</ a ></ div >< div class = "ttdeci" > #define UDEBUG(...)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "ULogger_8h_source.html#l00059" > ULogger.h:59</ a ></ div ></ div >
< div class = "ttc" id = "aULogger_8h_html_ab3436168e27946669bbd4c76e4c4007e" >< div class = "ttname" >< a href = "ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e" > UASSERT</ a ></ div >< div class = "ttdeci" > #define UASSERT(condition)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "ULogger_8h_source.html#l00066" > ULogger.h:66</ a ></ div ></ div >
< div class = "ttc" id = "aULogger_8h_html_ab5a739ad9340455e46eaa570f8223d9a" >< div class = "ttname" >< a href = "ULogger_8h.html#ab5a739ad9340455e46eaa570f8223d9a" > UWARN</ a ></ div >< div class = "ttdeci" > #define UWARN(...)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "ULogger_8h_source.html#l00061" > ULogger.h:61</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LocalGridMaker_html_ad54b92f6d04b76a550483a7a68f45bda" >< div class = "ttname" >< a href = "classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda" > rtabmap::LocalGridMaker::segmentCloud</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< PointT > ::Ptr segmentCloud(const typename pcl::PointCloud< PointT > ::Ptr & cloud, const pcl::IndicesPtr & indices, const Transform & pose, const cv::Point3f & viewPoint, pcl::IndicesPtr & groundIndices, pcl::IndicesPtr & obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const</ div >< div class = "ttdoc" > Segments a point cloud into ground and obstacle indices.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LocalMapMaker_8hpp_source.html#l00038" > LocalMapMaker.hpp:38</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html_a61ff0bf933e0e7f220f20745df3d0818" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818" > rtabmap::Transform::prettyPrint</ a ></ div >< div class = "ttdeci" > std::string prettyPrint() const</ div >< div class = "ttdoc" > Returns a string representation of the transform.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html_a8ea4368f2018d751d2733038081d56a2" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > rtabmap::Transform::getIdentity</ a ></ div >< div class = "ttdeci" > static Transform getIdentity()</ div >< div class = "ttdoc" > Returns identity transform.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html_adf2345af30927b656ceca938ec4d0525" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525" > rtabmap::Transform::getEulerAngles</ a ></ div >< div class = "ttdeci" > void getEulerAngles(float & roll, float & pitch, float & yaw) const</ div >< div class = "ttdoc" > Extracts Euler angles (roll, pitch, yaw).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html_af90acc40bed06ab96468fd17585f1944" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944" > rtabmap::Transform::z</ a ></ div >< div class = "ttdeci" > float & z()</ div >< div class = "ttdoc" > Translation z.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00151" > Transform.h:151</ a ></ div ></ div >
< div class = "ttc" id = "agroup__CropBox_html_ga8291151381ff38773e641740b66b93ef" >< div class = "ttname" >< a href = "group__CropBox.html#ga8291151381ff38773e641740b66b93ef" > rtabmap::util3d::cropBox</ a ></ div >< div class = "ttdeci" > pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(const pcl::PCLPointCloud2::Ptr & cloud, const pcl::IndicesPtr & indices, const Eigen::Vector4f & min, const Eigen::Vector4f & max, const Transform & transform=Transform::getIdentity(), bool negative=false)</ div >< div class = "ttdoc" > Performs crop box filtering on a point cloud of type pcl::PCLPointCloud2 and returns filtered indices...</ 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__PointCloudSplitRangeFiltering_html_ga2dfe5eefc31a50912297f6341eae4446" >< div class = "ttname" >< a href = "group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446" > rtabmap::util3d::rangeSplitFiltering</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT rangeSplitFiltering(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, const pcl::IndicesPtr & indices, float range, pcl::IndicesPtr & closeIndices, pcl::IndicesPtr & farIndices)</ div >< div class = "ttdoc" > Splits a point cloud of type pcl::PointXYZ.</ div ></ div >
< div class = "ttc" id = "agroup__RadiusFiltering_html_ga21f5957a6c6b8dd2ca7e559ed8a82d08" >< div class = "ttname" >< a href = "group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08" > rtabmap::util3d::radiusFiltering</ a ></ div >< div class = "ttdeci" > pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, float radiusSearch, int minNeighborsInRadius)</ div >< div class = "ttdoc" > Radius filtering for point cloud of type pcl::PointXYZ.</ div ></ div >
< div class = "ttc" id = "agroup__TransformPointcloud_html_ga46b86abad0f4aa2ba7f191da0e07ba69" >< div class = "ttname" >< a href = "group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69" > rtabmap::util3d::transformPointCloud</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ > ::Ptr & cloud, const Transform & transform)</ div >< div class = "ttdoc" > Transforms pcl::PointXYZ point cloud type.</ 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 >
< 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 >
2026-08-20 01:26:39 +00:00
< 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#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-19 01:42:47 +00:00
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