2026-08-02 01:36:11 +00:00
<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
< html xmlns = "http://www.w3.org/1999/xhtml" lang = "en-US" >
< head >
< meta http-equiv = "Content-Type" content = "text/xhtml;charset=UTF-8" />
< meta http-equiv = "X-UA-Compatible" content = "IE=11" />
< meta name = "generator" content = "Doxygen 1.9.8" />
< meta name = "viewport" content = "width=device-width, initial-scale=1" />
< title > RTAB-Map: corelib/include/rtabmap/core/util3d.h Source File</ title >
< link href = "tabs.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "jquery.js" ></ script >
< script type = "text/javascript" src = "dynsections.js" ></ script >
2026-08-02 07:56:38 +00:00
< link href = "navtree.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "resize.js" ></ script >
< script type = "text/javascript" src = "navtreedata.js" ></ script >
< script type = "text/javascript" src = "navtree.js" ></ script >
2026-08-02 01:36:11 +00:00
< link href = "search/search.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "search/searchdata.js" ></ script >
< script type = "text/javascript" src = "search/search.js" ></ script >
< link href = "doxygen.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" > window . RTABMAP_DOC_ROOT = "" ;</ script >
< script type = "text/javascript" src = "../versions.js" ></ script >
< script type = "text/javascript" src = "version-switcher.js" ></ script >
</ head >
< body >
< div id = "top" > <!-- do not remove this div, it is closed by doxygen! -->
< div id = "titlearea" >
< table cellspacing = "0" cellpadding = "0" >
< tbody >
< tr id = "projectrow" >
< td id = "projectalign" >
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.10</ span >
</ div >
2026-08-02 07:56:38 +00:00
< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
2026-08-02 01:36:11 +00:00
</ td >
</ tr >
</ tbody >
</ table >
</ div >
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
var searchBox = new SearchBox ( "searchBox" , "search/" , '.html' );
/* @license-end */
</ script >
< script type = "text/javascript" src = "menudata.js" ></ script >
< script type = "text/javascript" src = "menu.js" ></ script >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( function () {
initMenu ( '' , true , false , 'search.php' , 'Search' );
$ ( document ). ready ( function () { init_search (); });
});
/* @license-end */
</ script >
< div id = "main-nav" ></ div >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( document ). ready ( function () { init_codefold ( 0 ); });
/* @license-end */
</ script >
2026-08-02 07:56:38 +00:00
</ div > <!-- top -->
< div id = "side-nav" class = "ui-resizable side-nav-resizable" >
< div id = "nav-tree" >
< div id = "nav-tree-contents" >
< div id = "nav-sync" class = "sync" ></ div >
</ div >
</ div >
< div id = "splitbar" style = "-moz-user-select:none;"
class = "ui-resizable-handle" >
</ div >
</ div >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( document ). ready ( function (){ initNavTree ( 'util3d_8h_source.html' , '' ); initResizable (); });
/* @license-end */
</ script >
< div id = "doc-content" >
2026-08-02 01:36:11 +00:00
<!-- window showing the filter options -->
< div id = "MSearchSelectWindow"
onmouseover = "return searchBox.OnSearchSelectShow()"
onmouseout = "return searchBox.OnSearchSelectHide()"
onkeydown = "return searchBox.OnSearchSelectKey(event)" >
</ div >
<!-- iframe showing the search results (closed by default) -->
< div id = "MSearchResultsWindow" >
< div id = "MSearchResults" >
< div class = "SRPage" >
< div id = "SRIndex" >
< div id = "SRResults" ></ div >
< div class = "SRStatus" id = "Loading" > Loading...</ div >
< div class = "SRStatus" id = "Searching" > Searching...</ div >
< div class = "SRStatus" id = "NoMatches" > No Matches</ div >
</ div >
</ div >
</ div >
</ div >
< div class = "header" >
< div class = "headertitle" >< div class = "title" > util3d.h</ div ></ div >
</ div > <!--header-->
< div class = "contents" >
< 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) 2010-2025, 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 >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< 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 >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< 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 >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< 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 >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< 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_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define UTIL3D_H_</ 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/rtabmap_core_export.h" </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < pcl/point_cloud.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < pcl/point_types.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < pcl/pcl_base.h> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #include < pcl/TextureMesh.h> </ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < rtabmap/core/Transform.h> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #include < rtabmap/core/SensorData.h> </ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #include < rtabmap/core/Parameters.h> </ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include < rtabmap/core/ProgressState.h> </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #include < cstdint> </ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "preprocessor" > #include < map> </ span ></ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span >< span class = "preprocessor" > #include < list> </ span ></ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span > </ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a ></ 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 > </ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span >< span class = "comment" > // Point type carrying xyz + intensity + ring (laser line index) + time</ span ></ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span >< span class = "comment" > // (per-point acquisition offset, seconds from the scan start). Matches the</ span ></ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span >< span class = "comment" > // layout expected by LIO-SAM' s Velodyne feature extractor so it can be fed</ span ></ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span >< span class = "comment" > // directly via util3d::laserScanFromPointCloud().</ span ></ div >
< div class = "foldopen" id = "foldopen00057" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1PointXYZIRT.html" > 57</ a ></ span >< span class = "keyword" > struct </ span > EIGEN_ALIGN16 < a class = "code hl_struct" href = "structrtabmap_1_1PointXYZIRT.html" > PointXYZIRT</ a ></ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > {</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > PCL_ADD_POINT4D;</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > < span class = "keywordtype" > float</ span > intensity;</ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > std::uint16_t ring;</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < span class = "keywordtype" > float</ span > time;</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > EIGEN_MAKE_ALIGNED_OPERATOR_NEW</ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > </ div >
2026-08-02 07:56:38 +00:00
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span >< span class = "keyword" > namespace </ span > util3d</ 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 > </ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b" > 93</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b" > rgbFromCloud</ a > (</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBA> & cloud,</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > < span class = "keywordtype" > bool</ span > bgrOrder = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > </ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d" > 111</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d" > depthFromCloud</ a > (</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBA> & cloud,</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > < span class = "keywordtype" > bool</ span > depth16U = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > </ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76" > 130</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76" > rgbdFromCloud</ a > (</ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBA> & cloud,</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > < span class = "keywordtype" > bool</ span > bgrOrder = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > < span class = "keywordtype" > bool</ span > depth16U = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > </ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5" > 155</ a ></ span > pcl::PointXYZ RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5" > projectDepthTo3D</ a > (</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > < span class = "keyword" > const</ span > cv::Mat & depthImage,</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > < span class = "keywordtype" > float</ span > x, < span class = "keywordtype" > float</ span > y,</ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > < span class = "keywordtype" > float</ span > cx, < span class = "keywordtype" > float</ span > cy,</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > < span class = "keywordtype" > float</ span > fx, < span class = "keywordtype" > float</ span > fy,</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > < span class = "keywordtype" > bool</ span > smoothing,</ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > < span class = "keywordtype" > float</ span > depthErrorRatio = 0.02f);</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > </ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f" > 179</ a ></ span > Eigen::Vector3f RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f" > projectDepthTo3DRay</ a > (</ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > < span class = "keyword" > const</ span > cv::Size & imageSize,</ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > < span class = "keywordtype" > float</ span > x, < span class = "keywordtype" > float</ span > y,</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > < span class = "keywordtype" > float</ span > cx, < span class = "keywordtype" > float</ span > cy,</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > < span class = "keywordtype" > float</ span > fx, < span class = "keywordtype" > float</ span > fy);</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > </ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249" > 207</ a ></ span > RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249" > cloudFromDepth</ a > (</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepth,</ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > < span class = "keywordtype" > float</ span > cx, < span class = "keywordtype" > float</ span > cy,</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > < span class = "keywordtype" > float</ span > fx, < span class = "keywordtype" > float</ span > fy,</ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a9fa0222fe9a7f74fcfa4c04c0c2dd532" > 230</ a ></ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249" > cloudFromDepth</ a > (</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepth,</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model,</ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" > 234</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
2026-08-02 07:56:38 +00:00
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249" > cloudFromDepth</ a > (</ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepth,</ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepthConfidence,</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model,</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > confidenceThr = 0,</ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span > </ div >
< div class = "line" >< a id = "l00272" name = "l00272" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c" > 272</ a ></ span > RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c" > cloudFromDepthRGB</ a > (</ div >
< div class = "line" >< a id = "l00273" name = "l00273" ></ a >< span class = "lineno" > 273</ span > < span class = "keyword" > const</ span > cv::Mat & imageRgb,</ div >
< div class = "line" >< a id = "l00274" name = "l00274" ></ a >< span class = "lineno" > 274</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepth,</ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" > 275</ span > < span class = "keywordtype" > float</ span > cx, < span class = "keywordtype" > float</ span > cy,</ div >
< div class = "line" >< a id = "l00276" name = "l00276" ></ a >< span class = "lineno" > 276</ span > < span class = "keywordtype" > float</ span > fx, < span class = "keywordtype" > float</ span > fy,</ div >
< div class = "line" >< a id = "l00277" name = "l00277" ></ a >< span class = "lineno" > 277</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00278" name = "l00278" ></ a >< span class = "lineno" > 278</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00279" name = "l00279" ></ a >< span class = "lineno" > 279</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00280" name = "l00280" ></ a >< span class = "lineno" > 280</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00281" name = "l00281" ></ a >< span class = "lineno" > 281</ span > </ div >
< div class = "line" >< a id = "l00303" name = "l00303" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a64b369873a01960576cb34aab4c5a319" > 303</ a ></ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c" > cloudFromDepthRGB</ a > (</ div >
< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" > 304</ span > < span class = "keyword" > const</ span > cv::Mat & imageRgb,</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepth,</ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model,</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" > 307</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" > 308</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" > 309</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00310" name = "l00310" ></ a >< span class = "lineno" > 310</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" > 311</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c" > cloudFromDepthRGB</ a > (</ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" > 312</ span > < span class = "keyword" > const</ span > cv::Mat & imageRgb,</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" > 313</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepth,</ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span > < span class = "keyword" > const</ span > cv::Mat & imageDepthConfidence,</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" > 315</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model,</ div >
< div class = "line" >< a id = "l00316" name = "l00316" ></ a >< span class = "lineno" > 316</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00317" name = "l00317" ></ a >< span class = "lineno" > 317</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00318" name = "l00318" ></ a >< span class = "lineno" > 318</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00319" name = "l00319" ></ a >< span class = "lineno" > 319</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > confidenceThr = 0, < span class = "comment" > // 0=low, 100=high</ span ></ div >
< div class = "line" >< a id = "l00320" name = "l00320" ></ a >< span class = "lineno" > 320</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00321" name = "l00321" ></ a >< span class = "lineno" > 321</ span > </ div >
< div class = "line" >< a id = "l00351" name = "l00351" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71" > 351</ a ></ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71" > cloudFromDisparity</ a > (</ div >
< div class = "line" >< a id = "l00352" name = "l00352" ></ a >< span class = "lineno" > 352</ span > < span class = "keyword" > const</ span > cv::Mat & imageDisparity,</ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" > 353</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & model,</ div >
< div class = "line" >< a id = "l00354" name = "l00354" ></ a >< span class = "lineno" > 354</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" > 355</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00356" name = "l00356" ></ a >< span class = "lineno" > 356</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00357" name = "l00357" ></ a >< span class = "lineno" > 357</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00358" name = "l00358" ></ a >< span class = "lineno" > 358</ span > </ div >
< div class = "line" >< a id = "l00392" name = "l00392" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e" > 392</ a ></ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e" > cloudFromDisparityRGB</ a > (</ div >
< div class = "line" >< a id = "l00393" name = "l00393" ></ a >< span class = "lineno" > 393</ span > < span class = "keyword" > const</ span > cv::Mat & imageRgb,</ div >
< div class = "line" >< a id = "l00394" name = "l00394" ></ a >< span class = "lineno" > 394</ span > < span class = "keyword" > const</ span > cv::Mat & imageDisparity,</ div >
< div class = "line" >< a id = "l00395" name = "l00395" ></ a >< span class = "lineno" > 395</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & model,</ div >
< div class = "line" >< a id = "l00396" name = "l00396" ></ a >< span class = "lineno" > 396</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00397" name = "l00397" ></ a >< span class = "lineno" > 397</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00398" name = "l00398" ></ a >< span class = "lineno" > 398</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00399" name = "l00399" ></ a >< span class = "lineno" > 399</ span > std::vector< int> * validIndices = 0);</ div >
< div class = "line" >< a id = "l00400" name = "l00400" ></ a >< span class = "lineno" > 400</ span > </ div >
< div class = "line" >< a id = "l00437" name = "l00437" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc" > 437</ a ></ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc" > cloudFromStereoImages</ a > (</ div >
< div class = "line" >< a id = "l00438" name = "l00438" ></ a >< span class = "lineno" > 438</ span > < span class = "keyword" > const</ span > cv::Mat & imageLeft,</ div >
< div class = "line" >< a id = "l00439" name = "l00439" ></ a >< span class = "lineno" > 439</ span > < span class = "keyword" > const</ span > cv::Mat & imageRight,</ div >
< div class = "line" >< a id = "l00440" name = "l00440" ></ a >< span class = "lineno" > 440</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & model,</ div >
< div class = "line" >< a id = "l00441" name = "l00441" ></ a >< span class = "lineno" > 441</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00442" name = "l00442" ></ a >< span class = "lineno" > 442</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00443" name = "l00443" ></ a >< span class = "lineno" > 443</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00444" name = "l00444" ></ a >< span class = "lineno" > 444</ span > std::vector< int> * validIndices = 0,</ div >
< div class = "line" >< a id = "l00445" name = "l00445" ></ a >< span class = "lineno" > 445</ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
< div class = "line" >< a id = "l00446" name = "l00446" ></ a >< span class = "lineno" > 446</ span > </ div >
< div class = "line" >< a id = "l00485" name = "l00485" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa" > 485</ a ></ span > std::vector< pcl::PointCloud< pcl::PointXYZ> ::Ptr> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa" > cloudsFromSensorData</ a > (</ div >
< div class = "line" >< a id = "l00486" name = "l00486" ></ a >< span class = "lineno" > 486</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & sensorData,</ div >
< div class = "line" >< a id = "l00487" name = "l00487" ></ a >< span class = "lineno" > 487</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00488" name = "l00488" ></ a >< span class = "lineno" > 488</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00489" name = "l00489" ></ a >< span class = "lineno" > 489</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00490" name = "l00490" ></ a >< span class = "lineno" > 490</ span > std::vector< pcl::IndicesPtr> * validIndices = 0,</ div >
< div class = "line" >< a id = "l00491" name = "l00491" ></ a >< span class = "lineno" > 491</ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & stereoParameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > (),</ div >
< div class = "line" >< a id = "l00492" name = "l00492" ></ a >< span class = "lineno" > 492</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (), < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00493" name = "l00493" ></ a >< span class = "lineno" > 493</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > confidenceThr = 0); < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00494" name = "l00494" ></ a >< span class = "lineno" > 494</ span > </ div >
< div class = "line" >< a id = "l00523" name = "l00523" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66" > 523</ a ></ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66" > cloudFromSensorData</ a > (</ div >
< div class = "line" >< a id = "l00524" name = "l00524" ></ a >< span class = "lineno" > 524</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & sensorData,</ div >
< div class = "line" >< a id = "l00525" name = "l00525" ></ a >< span class = "lineno" > 525</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00526" name = "l00526" ></ a >< span class = "lineno" > 526</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00527" name = "l00527" ></ a >< span class = "lineno" > 527</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00528" name = "l00528" ></ a >< span class = "lineno" > 528</ span > std::vector< int> * validIndices = 0,</ div >
< div class = "line" >< a id = "l00529" name = "l00529" ></ a >< span class = "lineno" > 529</ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & stereoParameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > (),</ div >
< div class = "line" >< a id = "l00530" name = "l00530" ></ a >< span class = "lineno" > 530</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (), < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00531" name = "l00531" ></ a >< span class = "lineno" > 531</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > confidenceThr = 0); < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00532" name = "l00532" ></ a >< span class = "lineno" > 532</ span > </ div >
< div class = "line" >< a id = "l00565" name = "l00565" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e" > 565</ a ></ span > std::vector< pcl::PointCloud< pcl::PointXYZRGB> ::Ptr> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e" > cloudsRGBFromSensorData</ a > (</ div >
< div class = "line" >< a id = "l00566" name = "l00566" ></ a >< span class = "lineno" > 566</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & sensorData,</ div >
< div class = "line" >< a id = "l00567" name = "l00567" ></ a >< span class = "lineno" > 567</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00568" name = "l00568" ></ a >< span class = "lineno" > 568</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00569" name = "l00569" ></ a >< span class = "lineno" > 569</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00570" name = "l00570" ></ a >< span class = "lineno" > 570</ span > std::vector< pcl::IndicesPtr > * validIndices = 0,</ div >
< div class = "line" >< a id = "l00571" name = "l00571" ></ a >< span class = "lineno" > 571</ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & stereoParameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > (),</ div >
< div class = "line" >< a id = "l00572" name = "l00572" ></ a >< span class = "lineno" > 572</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (), < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00573" name = "l00573" ></ a >< span class = "lineno" > 573</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > confidenceThr = 0); < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00574" name = "l00574" ></ a >< span class = "lineno" > 574</ span > </ div >
< div class = "line" >< a id = "l00601" name = "l00601" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745" > 601</ a ></ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745" > cloudRGBFromSensorData</ a > (</ div >
< div class = "line" >< a id = "l00602" name = "l00602" ></ a >< span class = "lineno" > 602</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & sensorData,</ div >
< div class = "line" >< a id = "l00603" name = "l00603" ></ a >< span class = "lineno" > 603</ span > < span class = "keywordtype" > int</ span > decimation = 1,</ div >
< div class = "line" >< a id = "l00604" name = "l00604" ></ a >< span class = "lineno" > 604</ span > < span class = "keywordtype" > float</ span > maxDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00605" name = "l00605" ></ a >< span class = "lineno" > 605</ span > < span class = "keywordtype" > float</ span > minDepth = 0.0f,</ div >
< div class = "line" >< a id = "l00606" name = "l00606" ></ a >< span class = "lineno" > 606</ span > std::vector< int> * validIndices = 0,</ div >
< div class = "line" >< a id = "l00607" name = "l00607" ></ a >< span class = "lineno" > 607</ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & stereoParameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > (),</ div >
< div class = "line" >< a id = "l00608" name = "l00608" ></ a >< span class = "lineno" > 608</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (), < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00609" name = "l00609" ></ a >< span class = "lineno" > 609</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > confidenceThr = 0); < span class = "comment" > // ignored for stereo</ span ></ div >
< div class = "line" >< a id = "l00610" name = "l00610" ></ a >< span class = "lineno" > 610</ span > </ div >
< div class = "line" >< a id = "l00633" name = "l00633" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558" > 633</ a ></ span > pcl::PointCloud< pcl::PointXYZ> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558" > laserScanFromDepthImage</ a > (</ div >
< div class = "line" >< a id = "l00634" name = "l00634" ></ a >< span class = "lineno" > 634</ span > < span class = "keyword" > const</ span > cv::Mat & depthImage,</ div >
< div class = "line" >< a id = "l00635" name = "l00635" ></ a >< span class = "lineno" > 635</ span > < span class = "keywordtype" > float</ span > fx,</ div >
< div class = "line" >< a id = "l00636" name = "l00636" ></ a >< span class = "lineno" > 636</ span > < span class = "keywordtype" > float</ span > fy,</ div >
< div class = "line" >< a id = "l00637" name = "l00637" ></ a >< span class = "lineno" > 637</ span > < span class = "keywordtype" > float</ span > cx,</ div >
< div class = "line" >< a id = "l00638" name = "l00638" ></ a >< span class = "lineno" > 638</ span > < span class = "keywordtype" > float</ span > cy,</ div >
< div class = "line" >< a id = "l00639" name = "l00639" ></ a >< span class = "lineno" > 639</ span > < span class = "keywordtype" > float</ span > maxDepth = 0,</ div >
< div class = "line" >< a id = "l00640" name = "l00640" ></ a >< span class = "lineno" > 640</ span > < span class = "keywordtype" > float</ span > minDepth = 0,</ div >
< div class = "line" >< a id = "l00641" name = "l00641" ></ a >< span class = "lineno" > 641</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ());</ div >
< div class = "line" >< a id = "l00661" name = "l00661" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0" > 661</ a ></ span > pcl::PointCloud< pcl::PointXYZ> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0" > laserScanFromDepthImages</ a > (</ div >
< div class = "line" >< a id = "l00662" name = "l00662" ></ a >< span class = "lineno" > 662</ span > < span class = "keyword" > const</ span > cv::Mat & depthImages,</ div >
< div class = "line" >< a id = "l00663" name = "l00663" ></ a >< span class = "lineno" > 663</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00664" name = "l00664" ></ a >< span class = "lineno" > 664</ span > < span class = "keywordtype" > float</ span > maxDepth,</ div >
< div class = "line" >< a id = "l00665" name = "l00665" ></ a >< span class = "lineno" > 665</ span > < span class = "keywordtype" > float</ span > minDepth);</ div >
< div class = "line" >< a id = "l00666" name = "l00666" ></ a >< span class = "lineno" > 666</ span > </ div >
< div class = "line" >< a id = "l00697" name = "l00697" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga16a77d267dc60b14b5bf48ca52547bae" > 697</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00702" name = "l00702" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga75f96d3e3d5d62ce6a9d16a1753c775a" > 702</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> & cloud, < span class = "keyword" > const</ span > pcl::IndicesPtr & indices, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00707" name = "l00707" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga7a88e45c9bab555c6d1efd64be765c4d" > 707</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointNormal> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00712" name = "l00712" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga9470f081e8de0a34550e91e2f74bacd5" > 712</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointNormal> & cloud, < span class = "keyword" > const</ span > pcl::IndicesPtr & indices, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00717" name = "l00717" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#gad5764a399e3a8a5586b94490e0cd7d15" > 717</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> & cloud, < span class = "keyword" > const</ span > pcl::PointCloud< pcl::Normal> & normals, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00722" name = "l00722" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga9933faab17e984b2789926abd2ba0caf" > 722</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00727" name = "l00727" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#gaa98ccb732868f5ab4e91cd6f82602852" > 727</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloud, < span class = "keyword" > const</ span > pcl::IndicesPtr & indices, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00732" name = "l00732" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#gadeb1f66fd39cfcb39c2f152c36b3be62" > 732</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00737" name = "l00737" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga51c683da166a9fcf7e7bf6c834ca03a4" > 737</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> & cloud, < span class = "keyword" > const</ span > pcl::IndicesPtr & indices, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00742" name = "l00742" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga655a37385c6ca40ec99e76045c04040b" > 742</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< rtabmap::PointXYZIRT> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00747" name = "l00747" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga04169bd4b4488350b08709af9581b289" > 747</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< rtabmap::PointXYZIRT> & cloud, < span class = "keyword" > const</ span > pcl::IndicesPtr & indices, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00752" name = "l00752" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga75bf455d6cc912b4ee18785de71c50a5" > 752</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloud, < span class = "keyword" > const</ span > pcl::PointCloud< pcl::Normal> & normals, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00757" name = "l00757" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#gaf509a7c65e02d8690c971294c43bda47" > 757</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00762" name = "l00762" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga9344c712c57af92d7612b0af76226f06" > 762</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & cloud, < span class = "keyword" > const</ span > pcl::IndicesPtr & indices, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00767" name = "l00767" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#ga79e460158de1d3934abcd8fad488fb24" > 767</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> & cloud, < span class = "keyword" > const</ span > pcl::PointCloud< pcl::Normal> & normals, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00772" name = "l00772" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#gafb165d79d23620b42af0653ae045fb91" > 772</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZINormal> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00777" name = "l00777" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanFromPointCloud.html#gab2d54043075851c5e23f487001adacb6" > 777</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZINormal> & cloud, < span class = "keyword" > const</ span > pcl::IndicesPtr & indices, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00778" name = "l00778" ></ a >< span class = "lineno" > 778</ span > </ div >
< div class = "line" >< a id = "l00783" name = "l00783" ></ a >< span class = "lineno" > 783</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > Cloud2T> </ div >
< div class = "line" >< a id = "l00784" name = "l00784" ></ a >< span class = "lineno" > 784</ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > < a class = "code hl_function" href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > laserScanFromPointCloud</ a > (< span class = "keyword" > const</ span > PointCloud2T & cloud, < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > is2D = < span class = "keyword" > false</ span > , < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > ());</ div >
< div class = "line" >< a id = "l00785" name = "l00785" ></ a >< span class = "lineno" > 785</ span > </ div >
< div class = "line" >< a id = "l00810" name = "l00810" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > 810</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > laserScan2dFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00815" name = "l00815" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScan2dFromPointCloud.html#ga0898d06b1639f58ed92b66f311e786aa" > 815</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > laserScan2dFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00820" name = "l00820" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScan2dFromPointCloud.html#gac278e2f3f54ed49b5d3a6afa606a466b" > 820</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > laserScan2dFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointNormal> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00825" name = "l00825" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScan2dFromPointCloud.html#gae4e7c218a24fb8d5c3fd7143462d3070" > 825</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > laserScan2dFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> & cloud, < span class = "keyword" > const</ span > pcl::PointCloud< pcl::Normal> & normals, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00830" name = "l00830" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScan2dFromPointCloud.html#ga6cb623d1b3ce9c244a7d4ef346a721db" > 830</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > laserScan2dFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZINormal> & cloud, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00835" name = "l00835" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScan2dFromPointCloud.html#ga0354b321c4196232fb1183c3a322b5f8" > 835</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > laserScan2dFromPointCloud</ a > (< span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> & cloud, < span class = "keyword" > const</ span > pcl::PointCloud< pcl::Normal> & normals, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > bool</ span > filterNaNs = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00836" name = "l00836" ></ a >< span class = "lineno" > 836</ span > </ div >
< div class = "line" >< a id = "l00853" name = "l00853" ></ a >< span class = "lineno" >< a class = "line" href = "group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c" > 853</ a ></ span > pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c" > laserScanToPointCloud2</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > ());</ div >
< div class = "line" >< a id = "l00854" name = "l00854" ></ a >< span class = "lineno" > 854</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > ());</ div >
< div class = "line" >< a id = "l00855" name = "l00855" ></ a >< span class = "lineno" > 855</ span > pcl::PointCloud< pcl::PointNormal> ::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > ());</ div >
< div class = "line" >< a id = "l00856" name = "l00856" ></ a >< span class = "lineno" > 856</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > r = 100, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > g = 100, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > b = 100);</ div >
< div class = "line" >< a id = "l00857" name = "l00857" ></ a >< span class = "lineno" > 857</ span > pcl::PointCloud< pcl::PointXYZI> ::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > float</ span > intensity = 0.0f);</ div >
< div class = "line" >< a id = "l00858" name = "l00858" ></ a >< span class = "lineno" > 858</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > r = 100, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > g = 100, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > b = 100);</ div >
< div class = "line" >< a id = "l00859" name = "l00859" ></ a >< span class = "lineno" > 859</ span > pcl::PointCloud< pcl::PointXYZINormal> ::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > (), < span class = "keywordtype" > float</ span > intensity = 0.0f);</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00860" name = "l00860" ></ a >< span class = "lineno" > 860</ span > </ div >
2026-08-02 07:56:38 +00:00
< div class = "line" >< a id = "l00861" name = "l00861" ></ a >< span class = "lineno" > 861</ span > </ div >
< div class = "line" >< a id = "l00862" name = "l00862" ></ a >< span class = "lineno" > 862</ span > pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keywordtype" > int</ span > index);</ div >
< div class = "line" >< a id = "l00863" name = "l00863" ></ a >< span class = "lineno" > 863</ span > pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keywordtype" > int</ span > index);</ div >
< div class = "line" >< a id = "l00864" name = "l00864" ></ a >< span class = "lineno" > 864</ span > pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keywordtype" > int</ span > index, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > r = 100, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > g = 100, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > b = 100);</ div >
< div class = "line" >< a id = "l00865" name = "l00865" ></ a >< span class = "lineno" > 865</ span > pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keywordtype" > int</ span > index, < span class = "keywordtype" > float</ span > intensity);</ div >
< div class = "line" >< a id = "l00866" name = "l00866" ></ a >< span class = "lineno" > 866</ span > pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keywordtype" > int</ span > index, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > r, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > g, < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > b);</ div >
< div class = "line" >< a id = "l00867" name = "l00867" ></ a >< span class = "lineno" > 867</ span > pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keywordtype" > int</ span > index, < span class = "keywordtype" > float</ span > intensity);</ div >
< div class = "line" >< a id = "l00868" name = "l00868" ></ a >< span class = "lineno" > 868</ span > </ div >
< div class = "line" >< a id = "l00890" name = "l00890" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018" > 890</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018" > getMinMax3D</ a > (< span class = "keyword" > const</ span > cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);</ div >
< div class = "line" >< a id = "l00891" name = "l00891" ></ a >< span class = "lineno" > 891</ span > </ div >
< div class = "line" >< a id = "l00905" name = "l00905" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#afc22f82c00f6dcc8a4ec1963891f4b7e" > 905</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018" > getMinMax3D</ a > (< span class = "keyword" > const</ span > cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);</ div >
< div class = "line" >< a id = "l00906" name = "l00906" ></ a >< span class = "lineno" > 906</ span > </ div >
< div class = "line" >< a id = "l00929" name = "l00929" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5" > 929</ a ></ span > cv::Point3f RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5" > projectDisparityTo3D</ a > (</ div >
< div class = "line" >< a id = "l00930" name = "l00930" ></ a >< span class = "lineno" > 930</ span > < span class = "keyword" > const</ span > cv::Point2f & pt,</ div >
< div class = "line" >< a id = "l00931" name = "l00931" ></ a >< span class = "lineno" > 931</ span > < span class = "keywordtype" > float</ span > disparity,</ div >
< div class = "line" >< a id = "l00932" name = "l00932" ></ a >< span class = "lineno" > 932</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & model);</ div >
< div class = "line" >< a id = "l00933" name = "l00933" ></ a >< span class = "lineno" > 933</ span > </ div >
< div class = "line" >< a id = "l00952" name = "l00952" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a05a022ff5229033fc248bc497edd5449" > 952</ a ></ span > cv::Point3f RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5" > projectDisparityTo3D</ a > (</ div >
< div class = "line" >< a id = "l00953" name = "l00953" ></ a >< span class = "lineno" > 953</ span > < span class = "keyword" > const</ span > cv::Point2f & pt,</ div >
< div class = "line" >< a id = "l00954" name = "l00954" ></ a >< span class = "lineno" > 954</ span > < span class = "keyword" > const</ span > cv::Mat & disparity,</ div >
< div class = "line" >< a id = "l00955" name = "l00955" ></ a >< span class = "lineno" > 955</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & model);</ div >
< div class = "line" >< a id = "l00956" name = "l00956" ></ a >< span class = "lineno" > 956</ span > </ div >
< div class = "line" >< a id = "l00977" name = "l00977" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057" > 977</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057" > projectCloudToCamera</ a > (</ div >
< div class = "line" >< a id = "l00978" name = "l00978" ></ a >< span class = "lineno" > 978</ span > < span class = "keyword" > const</ span > cv::Size & imageSize,</ div >
< div class = "line" >< a id = "l00979" name = "l00979" ></ a >< span class = "lineno" > 979</ span > < span class = "keyword" > const</ span > cv::Mat & cameraMatrixK, </ div >
< div class = "line" >< a id = "l00980" name = "l00980" ></ a >< span class = "lineno" > 980</ span > < span class = "keyword" > const</ span > cv::Mat & laserScan,</ div >
< div class = "line" >< a id = "l00981" name = "l00981" ></ a >< span class = "lineno" > 981</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > & cameraTransform);</ div >
< div class = "line" >< a id = "l00982" name = "l00982" ></ a >< span class = "lineno" > 982</ span > </ div >
< div class = "line" >< a id = "l01003" name = "l01003" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a7dea084f1dbb77c8f5bc2a7241c3b566" > 1003</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057" > projectCloudToCamera</ a > (</ div >
< div class = "line" >< a id = "l01004" name = "l01004" ></ a >< span class = "lineno" > 1004</ span > < span class = "keyword" > const</ span > cv::Size & imageSize,</ div >
< div class = "line" >< a id = "l01005" name = "l01005" ></ a >< span class = "lineno" > 1005</ span > < span class = "keyword" > const</ span > cv::Mat & cameraMatrixK,</ div >
< div class = "line" >< a id = "l01006" name = "l01006" ></ a >< span class = "lineno" > 1006</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr laserScan,</ div >
< div class = "line" >< a id = "l01007" name = "l01007" ></ a >< span class = "lineno" > 1007</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > & cameraTransform);</ div >
< div class = "line" >< a id = "l01008" name = "l01008" ></ a >< span class = "lineno" > 1008</ span > </ div >
< div class = "line" >< a id = "l01029" name = "l01029" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a285e01226d60613ffd77d929780069ba" > 1029</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057" > projectCloudToCamera</ a > (</ div >
< div class = "line" >< a id = "l01030" name = "l01030" ></ a >< span class = "lineno" > 1030</ span > < span class = "keyword" > const</ span > cv::Size & imageSize,</ div >
< div class = "line" >< a id = "l01031" name = "l01031" ></ a >< span class = "lineno" > 1031</ span > < span class = "keyword" > const</ span > cv::Mat & cameraMatrixK, </ div >
< div class = "line" >< a id = "l01032" name = "l01032" ></ a >< span class = "lineno" > 1032</ span > < span class = "keyword" > const</ span > pcl::PCLPointCloud2::Ptr laserScan,</ div >
< div class = "line" >< a id = "l01033" name = "l01033" ></ a >< span class = "lineno" > 1033</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > & cameraTransform);</ div >
< div class = "line" >< a id = "l01034" name = "l01034" ></ a >< span class = "lineno" > 1034</ span > </ div >
< div class = "line" >< a id = "l01054" name = "l01054" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564" > 1054</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564" > fillProjectedCloudHoles</ a > (</ div >
< div class = "line" >< a id = "l01055" name = "l01055" ></ a >< span class = "lineno" > 1055</ span > cv::Mat & depthRegistered,</ div >
< div class = "line" >< a id = "l01056" name = "l01056" ></ a >< span class = "lineno" > 1056</ span > < span class = "keywordtype" > bool</ span > verticalDirection,</ div >
< div class = "line" >< a id = "l01057" name = "l01057" ></ a >< span class = "lineno" > 1057</ span > < span class = "keywordtype" > bool</ span > fillToBorder);</ div >
< div class = "line" >< a id = "l01058" name = "l01058" ></ a >< span class = "lineno" > 1058</ span > </ div >
< div class = "line" >< a id = "l01087" name = "l01087" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628" > 1087</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628" > filterFloor</ a > (</ div >
< div class = "line" >< a id = "l01088" name = "l01088" ></ a >< span class = "lineno" > 1088</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l01089" name = "l01089" ></ a >< span class = "lineno" > 1089</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l01090" name = "l01090" ></ a >< span class = "lineno" > 1090</ span > < span class = "keywordtype" > float</ span > threshold,</ div >
< div class = "line" >< a id = "l01091" name = "l01091" ></ a >< span class = "lineno" > 1091</ span > cv::Mat * depthBelow = 0);</ div >
< div class = "line" >< a id = "l01092" name = "l01092" ></ a >< span class = "lineno" > 1092</ span > </ div >
< div class = "line" >< a id = "l01113" name = "l01113" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea" > 1113</ a ></ span > std::vector< std::pair< std::pair< int, int> , pcl::PointXY> > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea" > projectCloudToCameras</ a > (</ div >
< div class = "line" >< a id = "l01114" name = "l01114" ></ a >< span class = "lineno" > 1114</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & cloud,</ div >
< div class = "line" >< a id = "l01115" name = "l01115" ></ a >< span class = "lineno" > 1115</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & cameraPoses,</ div >
< div class = "line" >< a id = "l01116" name = "l01116" ></ a >< span class = "lineno" > 1116</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::vector< CameraModel> > & cameraModels,</ div >
< div class = "line" >< a id = "l01117" name = "l01117" ></ a >< span class = "lineno" > 1117</ span > < span class = "keywordtype" > float</ span > maxDistance = 0.0f,</ div >
< div class = "line" >< a id = "l01118" name = "l01118" ></ a >< span class = "lineno" > 1118</ span > < span class = "keywordtype" > float</ span > maxAngle = 0.0f,</ div >
< div class = "line" >< a id = "l01119" name = "l01119" ></ a >< span class = "lineno" > 1119</ span > < span class = "keywordtype" > float</ span > maxDepthError = 0.0f,</ div >
< div class = "line" >< a id = "l01120" name = "l01120" ></ a >< span class = "lineno" > 1120</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (),</ div >
< div class = "line" >< a id = "l01121" name = "l01121" ></ a >< span class = "lineno" > 1121</ span > < span class = "keyword" > const</ span > cv::Mat & projMask = cv::Mat(),</ div >
< div class = "line" >< a id = "l01122" name = "l01122" ></ a >< span class = "lineno" > 1122</ span > < span class = "keywordtype" > bool</ span > distanceToCamPolicy = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l01123" name = "l01123" ></ a >< span class = "lineno" > 1123</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1ProgressState.html" > ProgressState</ a > * state = 0);</ div >
< div class = "line" >< a id = "l01144" name = "l01144" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ae29c5a7ba359682e2430f55318226b39" > 1144</ a ></ span > std::vector< std::pair< std::pair< int, int> , pcl::PointXY> > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea" > projectCloudToCameras</ a > (</ div >
< div class = "line" >< a id = "l01145" name = "l01145" ></ a >< span class = "lineno" > 1145</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZINormal> & cloud,</ div >
< div class = "line" >< a id = "l01146" name = "l01146" ></ a >< span class = "lineno" > 1146</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & cameraPoses,</ div >
< div class = "line" >< a id = "l01147" name = "l01147" ></ a >< span class = "lineno" > 1147</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::vector< CameraModel> > & cameraModels,</ div >
< div class = "line" >< a id = "l01148" name = "l01148" ></ a >< span class = "lineno" > 1148</ span > < span class = "keywordtype" > float</ span > maxDistance = 0.0f,</ div >
< div class = "line" >< a id = "l01149" name = "l01149" ></ a >< span class = "lineno" > 1149</ span > < span class = "keywordtype" > float</ span > maxAngle = 0.0f,</ div >
< div class = "line" >< a id = "l01150" name = "l01150" ></ a >< span class = "lineno" > 1150</ span > < span class = "keywordtype" > float</ span > maxDepthError = 0.0f,</ div >
< div class = "line" >< a id = "l01151" name = "l01151" ></ a >< span class = "lineno" > 1151</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (),</ div >
< div class = "line" >< a id = "l01152" name = "l01152" ></ a >< span class = "lineno" > 1152</ span > < span class = "keyword" > const</ span > cv::Mat & projMask = cv::Mat(),</ div >
< div class = "line" >< a id = "l01153" name = "l01153" ></ a >< span class = "lineno" > 1153</ span > < span class = "keywordtype" > bool</ span > distanceToCamPolicy = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l01154" name = "l01154" ></ a >< span class = "lineno" > 1154</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1ProgressState.html" > ProgressState</ a > * state = 0);</ div >
< div class = "line" >< a id = "l01155" name = "l01155" ></ a >< span class = "lineno" > 1155</ span > </ div >
< div class = "line" >< a id = "l01165" name = "l01165" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020" > 1165</ a ></ span >< span class = "keywordtype" > bool</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020" > isFinite</ a > (< span class = "keyword" > const</ span > cv::Point3f & pt);</ div >
< div class = "line" >< a id = "l01166" name = "l01166" ></ a >< span class = "lineno" > 1166</ span > </ div >
< div class = "line" >< a id = "l01176" name = "l01176" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b" > 1176</ a ></ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b" > concatenateClouds</ a > (</ div >
< div class = "line" >< a id = "l01177" name = "l01177" ></ a >< span class = "lineno" > 1177</ span > < span class = "keyword" > const</ span > std::list< pcl::PointCloud< pcl::PointXYZ> ::Ptr> & clouds);</ div >
< div class = "line" >< a id = "l01187" name = "l01187" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a909a600c90d8bc4f77b62ff21a97ddc1" > 1187</ a ></ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b" > concatenateClouds</ a > (</ div >
< div class = "line" >< a id = "l01188" name = "l01188" ></ a >< span class = "lineno" > 1188</ span > < span class = "keyword" > const</ span > std::list< pcl::PointCloud< pcl::PointXYZRGB> ::Ptr> & clouds);</ div >
< div class = "line" >< a id = "l01189" name = "l01189" ></ a >< span class = "lineno" > 1189</ span > </ div >
< div class = "line" >< a id = "l01204" name = "l01204" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > 1204</ a ></ span > pcl::IndicesPtr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > concatenate</ a > (</ div >
< div class = "line" >< a id = "l01205" name = "l01205" ></ a >< span class = "lineno" > 1205</ span > < span class = "keyword" > const</ span > std::vector< pcl::IndicesPtr> & indices);</ div >
< div class = "line" >< a id = "l01206" name = "l01206" ></ a >< span class = "lineno" > 1206</ span > </ div >
< div class = "line" >< a id = "l01221" name = "l01221" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ac6c2019b1dad806d0c593e2ee3c21185" > 1221</ a ></ span > pcl::IndicesPtr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969" > concatenate</ a > (</ div >
< div class = "line" >< a id = "l01222" name = "l01222" ></ a >< span class = "lineno" > 1222</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indicesA,</ div >
< div class = "line" >< a id = "l01223" name = "l01223" ></ a >< span class = "lineno" > 1223</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indicesB);</ div >
< div class = "line" >< a id = "l01224" name = "l01224" ></ a >< span class = "lineno" > 1224</ span > </ div >
< div class = "line" >< a id = "l01236" name = "l01236" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6" > 1236</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6" > savePCDWords</ a > (</ div >
< div class = "line" >< a id = "l01237" name = "l01237" ></ a >< span class = "lineno" > 1237</ span > < span class = "keyword" > const</ span > std::string & fileName,</ div >
< div class = "line" >< a id = "l01238" name = "l01238" ></ a >< span class = "lineno" > 1238</ span > < span class = "keyword" > const</ span > std::multimap< int, pcl::PointXYZ> & words,</ div >
< div class = "line" >< a id = "l01239" name = "l01239" ></ a >< span class = "lineno" > 1239</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ());</ div >
< div class = "line" >< a id = "l01240" name = "l01240" ></ a >< span class = "lineno" > 1240</ span > </ div >
< div class = "line" >< a id = "l01252" name = "l01252" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#abf6955904a45f28187e73aa1f4c409e0" > 1252</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6" > savePCDWords</ a > (</ div >
< div class = "line" >< a id = "l01253" name = "l01253" ></ a >< span class = "lineno" > 1253</ span > < span class = "keyword" > const</ span > std::string & fileName,</ div >
< div class = "line" >< a id = "l01254" name = "l01254" ></ a >< span class = "lineno" > 1254</ span > < span class = "keyword" > const</ span > std::multimap< int, cv::Point3f> & words,</ div >
< div class = "line" >< a id = "l01255" name = "l01255" ></ a >< span class = "lineno" > 1255</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ());</ div >
< div class = "line" >< a id = "l01256" name = "l01256" ></ a >< span class = "lineno" > 1256</ span > </ div >
< div class = "line" >< a id = "l01267" name = "l01267" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556" > 1267</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556" > loadBINScan</ a > (< span class = "keyword" > const</ span > std::string & fileName);</ div >
< div class = "line" >< a id = "l01276" name = "l01276" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06" > 1276</ a ></ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06" > loadBINCloud</ a > (< span class = "keyword" > const</ span > std::string & fileName);</ div >
< div class = "line" >< a id = "l01285" name = "l01285" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ae112015538769a29c920da97096e0d17" > 1285</ a ></ span > RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06" > loadBINCloud</ a > (< span class = "keyword" > const</ span > std::string & fileName, < span class = "keywordtype" > int</ span > dim);</ div >
< div class = "line" >< a id = "l01286" name = "l01286" ></ a >< span class = "lineno" > 1286</ span > </ div >
< div class = "line" >< a id = "l01297" name = "l01297" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190" > 1297</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190" > loadScan</ a > (< span class = "keyword" > const</ span > std::string & path);</ div >
< div class = "line" >< a id = "l01298" name = "l01298" ></ a >< span class = "lineno" > 1298</ span > </ div >
< div class = "line" >< a id = "l01312" name = "l01312" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8" > 1312</ a ></ span > RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ> ::Ptr RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8" > loadCloud</ a > (</ div >
< div class = "line" >< a id = "l01313" name = "l01313" ></ a >< span class = "lineno" > 1313</ span > < span class = "keyword" > const</ span > std::string & path,</ div >
< div class = "line" >< a id = "l01314" name = "l01314" ></ a >< span class = "lineno" > 1314</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (),</ div >
< div class = "line" >< a id = "l01315" name = "l01315" ></ a >< span class = "lineno" > 1315</ span > < span class = "keywordtype" > int</ span > downsampleStep = 1,</ div >
< div class = "line" >< a id = "l01316" name = "l01316" ></ a >< span class = "lineno" > 1316</ span > < span class = "keywordtype" > float</ span > voxelSize = 0.0f);</ div >
< div class = "line" >< a id = "l01317" name = "l01317" ></ a >< span class = "lineno" > 1317</ span > </ div >
< div class = "line" >< a id = "l01349" name = "l01349" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c" > 1349</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c" > deskew</ a > (</ div >
< div class = "line" >< a id = "l01350" name = "l01350" ></ a >< span class = "lineno" > 1350</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & input,</ div >
< div class = "line" >< a id = "l01351" name = "l01351" ></ a >< span class = "lineno" > 1351</ span > < span class = "keywordtype" > double</ span > inputStamp,</ div >
< div class = "line" >< a id = "l01352" name = "l01352" ></ a >< span class = "lineno" > 1352</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > & velocity);</ div >
< div class = "line" >< a id = "l01353" name = "l01353" ></ a >< span class = "lineno" > 1353</ span > </ div >
< div class = "line" >< a id = "l01354" name = "l01354" ></ a >< span class = "lineno" > 1354</ span > } < span class = "comment" > // namespace util3d</ span ></ div >
< div class = "line" >< a id = "l01355" name = "l01355" ></ a >< span class = "lineno" > 1355</ span > } < span class = "comment" > // namespace rtabmap</ span ></ div >
< div class = "line" >< a id = "l01356" name = "l01356" ></ a >< span class = "lineno" > 1356</ span > </ div >
< div class = "line" >< a id = "l01357" name = "l01357" ></ a >< span class = "lineno" > 1357</ span > POINT_CLOUD_REGISTER_POINT_STRUCT(< a class = "code hl_struct" href = "structrtabmap_1_1PointXYZIRT.html" > rtabmap::PointXYZIRT</ a > ,</ div >
< div class = "line" >< a id = "l01358" name = "l01358" ></ a >< span class = "lineno" > 1358</ span > (< span class = "keywordtype" > float</ span > , x, x)</ div >
< div class = "line" >< a id = "l01359" name = "l01359" ></ a >< span class = "lineno" > 1359</ span > (< span class = "keywordtype" > float</ span > , y, y)</ div >
< div class = "line" >< a id = "l01360" name = "l01360" ></ a >< span class = "lineno" > 1360</ span > (< span class = "keywordtype" > float</ span > , z, z)</ div >
< div class = "line" >< a id = "l01361" name = "l01361" ></ a >< span class = "lineno" > 1361</ span > (< span class = "keywordtype" > float</ span > , intensity, intensity)</ div >
< div class = "line" >< a id = "l01362" name = "l01362" ></ a >< span class = "lineno" > 1362</ span > (std::uint16_t, ring, ring)</ div >
< div class = "line" >< a id = "l01363" name = "l01363" ></ a >< span class = "lineno" > 1363</ span > (< span class = "keywordtype" > float</ span > , time, time)</ div >
< div class = "line" >< a id = "l01364" name = "l01364" ></ a >< span class = "lineno" > 1364</ span > )</ div >
< div class = "line" >< a id = "l01365" name = "l01365" ></ a >< span class = "lineno" > 1365</ span > </ div >
< div class = "line" >< a id = "l01366" name = "l01366" ></ a >< span class = "lineno" > 1366</ span >< span class = "preprocessor" > #include " rtabmap/core/impl/util3d.hpp" </ span ></ div >
< div class = "line" >< a id = "l01367" name = "l01367" ></ a >< span class = "lineno" > 1367</ span > </ div >
< div class = "line" >< a id = "l01368" name = "l01368" ></ a >< span class = "lineno" > 1368</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* UTIL3D_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
2026-08-02 01:36:11 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1CameraModel_html" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraModel.html" > rtabmap::CameraModel</ a ></ div >< div class = "ttdoc" > Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "CameraModel_8h_source.html#l00052" > CameraModel.h:53</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html" > rtabmap::LaserScan</ a ></ div >< div class = "ttdoc" > Represents 2D or 3D laser scan data with support for multiple point data formats.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00045" > LaserScan.h:46</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1ProgressState_html" >< div class = "ttname" >< a href = "classrtabmap_1_1ProgressState.html" > rtabmap::ProgressState</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "ProgressState_8h_source.html#l00035" > ProgressState.h:36</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoCameraModel_html" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoCameraModel.html" > rtabmap::StereoCameraModel</ a ></ div >< div class = "ttdoc" > A class representing a calibrated stereo camera system.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "StereoCameraModel_8h_source.html#l00053" > StereoCameraModel.h:54</ 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_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 = "agroup__LaserScan2dFromPointCloud_html_gac0823dd28e488bef9499faee54ff8a4e" >< div class = "ttname" >< a href = "group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e" > rtabmap::util3d::laserScan2dFromPointCloud</ a ></ div >< div class = "ttdeci" > LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > & cloud, const Transform & transform=Transform(), bool filterNaNs=true)</ div >< div class = "ttdoc" > PointXYZ → LaserScan::kXY</ div ></ div >
< div class = "ttc" id = "agroup__LaserScanFromPointCloud_html_ga078f5eae0077169e636ec76e03973edc" >< div class = "ttname" >< a href = "group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc" > rtabmap::util3d::laserScanFromPointCloud</ a ></ div >< div class = "ttdeci" > LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, bool is2D, const Transform & transform)</ div >< div class = "ttdoc" > Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "util3d_8hpp_source.html#l00037" > util3d.hpp:37</ a ></ div ></ div >
< div class = "ttc" id = "agroup__LaserScanToPointCloud_html_ga394ec840a58a1203fac9725d49a0013c" >< div class = "ttname" >< a href = "group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c" > rtabmap::util3d::laserScanToPointCloud2</ a ></ div >< div class = "ttdeci" > pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform=Transform())</ div >< div class = "ttdoc" > Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::...</ div ></ div >
2026-08-02 07:56:38 +00:00
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a07f8a125805ac013039b7fa0ddb623e0" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0" > rtabmap::util3d::laserScanFromDepthImages</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImages(const cv::Mat & depthImages, const std::vector< CameraModel > & cameraModels, float maxDepth, float minDepth)</ div >< div class = "ttdoc" > Converts multiple depth images (e.g., from a stereo or multi-camera setup) into a single laser scan (...</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a1e4a96407fb1b92018e640ef41b8db8e" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e" > rtabmap::util3d::cloudFromDisparityRGB</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZRGB > ::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(const cv::Mat & imageRgb, const cv::Mat & imageDisparity, const StereoCameraModel & model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</ div >< div class = "ttdoc" > Converts a disparity image and an RGB image to a 3D point cloud with color.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a2155fca440675ca9697a2fe7b2efb30e" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e" > rtabmap::util3d::cloudsRGBFromSensorData</ a ></ div >< div class = "ttdeci" > std::vector< pcl::PointCloud< pcl::PointXYZRGB > ::Ptr > RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(const SensorData & sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap & stereoParameters=ParametersMap(), const std::vector< float > & roiRatios=std::vector< float > (), unsigned char confidenceThr=0)</ div >< div class = "ttdoc" > Generates a point cloud with RGB color data from sensor data.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a29ece82e01f041cab271fe9322cf9745" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745" > rtabmap::util3d::cloudRGBFromSensorData</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZRGB > ::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(const SensorData & sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap & stereoParameters=ParametersMap(), const std::vector< float > & roiRatios=std::vector< float > (), unsigned char confidenceThr=0)</ div >< div class = "ttdoc" > Generates a point cloud of type pcl::PointXYZRGB from sensor data.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a3366d0a9c24960ee3f5b720945e12b1b" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b" > rtabmap::util3d::rgbFromCloud</ a ></ div >< div class = "ttdeci" > cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > & cloud, bool bgrOrder=true)</ div >< div class = "ttdoc" > Converts a PCL point cloud with RGBA information to an OpenCV RGB or BGR image.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a39d4adb63b4bd06592e2c65641a32558" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558" > rtabmap::util3d::laserScanFromDepthImage</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImage(const cv::Mat & depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform & localTransform=Transform::getIdentity())</ div >< div class = "ttdoc" > Converts the middle row of a depth image into a laser scan (point cloud) using camera intrinsics and ...</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a406caa6c0c51bae870a8c3a44e7daccc" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc" > rtabmap::util3d::cloudFromStereoImages</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZRGB > ::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(const cv::Mat & imageLeft, const cv::Mat & imageRight, const StereoCameraModel & model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Converts a pair of stereo images (left and right) into a 3D point cloud with RGB color information.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a42fb0c483553db3b06e78d85106b8ee5" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5" > rtabmap::util3d::projectDisparityTo3D</ a ></ div >< div class = "ttdeci" > cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(const cv::Point2f & pt, float disparity, const StereoCameraModel & model)</ div >< div class = "ttdoc" > Projects a 2D point from the left image and its disparity into 3D space.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a45c699a4a8f4108aa31148fb706e6249" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249" > rtabmap::util3d::cloudFromDepth</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(const cv::Mat & imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</ div >< div class = "ttdoc" > Converts a depth image to a 3D point cloud.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a4a95aa3704280ecff8ae50db2fdb03b5" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5" > rtabmap::util3d::projectDepthTo3D</ a ></ div >< div class = "ttdeci" > pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(const cv::Mat & depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float depthErrorRatio=0.02f)</ div >< div class = "ttdoc" > Projects a single depth pixel into 3D space.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a4e297ff4baacb0c658d7481eef5201a6" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6" > rtabmap::util3d::savePCDWords</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT savePCDWords(const std::string & fileName, const std::multimap< int, pcl::PointXYZ > & words, const Transform & transform=Transform::getIdentity())</ div >< div class = "ttdoc" > Saves 3D word points to a PCD file, applying a transform to each point.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a5ec62aa90ceb52a032e7e49c22e0fd76" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76" > rtabmap::util3d::rgbdFromCloud</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT rgbdFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > & cloud, cv::Mat & rgb, cv::Mat & depth, bool bgrOrder=true, bool depth16U=true)</ div >< div class = "ttdoc" > Converts a PCL point cloud (with RGBA colors) into aligned RGB and depth OpenCV images.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a5ee08270b4a9e8ad93193721c7c71556" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556" > rtabmap::util3d::loadBINScan</ a ></ div >< div class = "ttdeci" > cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName)</ div >< div class = "ttdoc" > Loads a KITTI-style Velodyne binary scan file into an OpenCV matrix.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a636c56f4ab6e58044595f95e44f93d06" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06" > rtabmap::util3d::loadBINCloud</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName)</ div >< div class = "ttdoc" > Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a791904051b63ab0da4d972166a25ae5f" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f" > rtabmap::util3d::projectDepthTo3DRay</ a ></ div >< div class = "ttdeci" > Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(const cv::Size & imageSize, float x, float y, float cx, float cy, float fx, float fy)</ div >< div class = "ttdoc" > Projects pixel coordinates to a normalized 3D ray in camera coordinates.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a826310ce938a13b9fff64f71e7ecc057" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057" > rtabmap::util3d::projectCloudToCamera</ a ></ div >< div class = "ttdeci" > cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(const cv::Size & imageSize, const cv::Mat & cameraMatrixK, const cv::Mat & laserScan, const rtabmap::Transform & cameraTransform)</ div >< div class = "ttdoc" > Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth ...</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a863268b894de375aa45485dafe52dd7b" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b" > rtabmap::util3d::concatenateClouds</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT concatenateClouds(const std::list< pcl::PointCloud< pcl::PointXYZ > ::Ptr > & clouds)</ div >< div class = "ttdoc" > Concatenates a list of PointXYZ point clouds into a single point cloud.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a86ba029bd916ab76dd5645ba7e1b2ef8" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8" > rtabmap::util3d::loadCloud</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT loadCloud(const std::string & path, const Transform & transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)</ div >< div class = "ttdoc" > Loads and optionally transforms/downsamples/voxelizes a point cloud.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a982bc5d13fea129a174e16373aa8a31c" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c" > rtabmap::util3d::cloudFromDepthRGB</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB > ::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(const cv::Mat & imageRgb, const cv::Mat & imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</ div >< div class = "ttdoc" > Creates a point cloud from an RGB image and a depth image.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a992c9dd2c6243261244e0650d3e98564" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564" > rtabmap::util3d::fillProjectedCloudHoles</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(cv::Mat & depthRegistered, bool verticalDirection, bool fillToBorder)</ div >< div class = "ttdoc" > Fills holes (missing depth values) in a depth image by interpolating between non-zero values.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_aa5a81a30a05507cb5d222f2f23c111ea" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea" > rtabmap::util3d::projectCloudToCameras</ a ></ div >< div class = "ttdeci" > std::vector< std::pair< std::pair< int, int > , pcl::PointXY > > RTABMAP_CORE_EXPORT projectCloudToCameras(const pcl::PointCloud< pcl::PointXYZRGBNormal > & cloud, const std::map< int, Transform > & cameraPoses, const std::map< int, std::vector< CameraModel > > & cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, float maxDepthError=0.0f, const std::vector< float > & roiRatios=std::vector< float > (), const cv::Mat & projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)</ div >< div class = "ttdoc" > Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy...</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_aacda489f2336d8edb4e982f61f55cc66" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66" > rtabmap::util3d::cloudFromSensorData</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(const SensorData & sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap & stereoParameters=ParametersMap(), const std::vector< float > & roiRatios=std::vector< float > (), unsigned char confidenceThr=0)</ div >< div class = "ttdoc" > Generates a point cloud from sensor data.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_aaf77cb59d32f36c1e9baa2111a7b1b3d" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d" > rtabmap::util3d::depthFromCloud</ a ></ div >< div class = "ttdeci" > cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > & cloud, bool depth16U=true)</ div >< div class = "ttdoc" > Generates a depth image from a PCL organized point cloud.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_acc048e10b70e3ad3efb299926e575020" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020" > rtabmap::util3d::isFinite</ a ></ div >< div class = "ttdeci" > bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt)</ div >< div class = "ttdoc" > Checks if all coordinates of a 3D point are finite.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_ad857475644e8de6d7d84b920637b2018" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018" > rtabmap::util3d::getMinMax3D</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max)</ div >< div class = "ttdoc" > Computes the minimum and maximum 3D points from a laser scan matrix.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_ada07c0379fcc7bb7465e31a5a53ebfaa" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa" > rtabmap::util3d::cloudsFromSensorData</ a ></ div >< div class = "ttdeci" > std::vector< pcl::PointCloud< pcl::PointXYZ > ::Ptr > RTABMAP_CORE_EXPORT cloudsFromSensorData(const SensorData & sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap & stereoParameters=ParametersMap(), const std::vector< float > & roiRatios=std::vector< float > (), unsigned char confidenceThr=0)</ div >< div class = "ttdoc" > Generates a set of point clouds from sensor data.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_ae145af1bf4955fa135bcf359fb1fe628" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628" > rtabmap::util3d::filterFloor</ a ></ div >< div class = "ttdeci" > cv::Mat RTABMAP_CORE_EXPORT filterFloor(const cv::Mat & depth, const std::vector< CameraModel > & cameraModels, float threshold, cv::Mat *depthBelow=0)</ div >< div class = "ttdoc" > Filters out points below a certain threshold in a depth image based on camera models.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_ae4f056638c16889c7cb1d41ecac2866c" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c" > rtabmap::util3d::deskew</ a ></ div >< div class = "ttdeci" > LaserScan RTABMAP_CORE_EXPORT deskew(const LaserScan & input, double inputStamp, const rtabmap::Transform & velocity)</ div >< div class = "ttdoc" > Lidar deskewing.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_aee34b5fe56014a9fa058fbdbf90cab71" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71" > rtabmap::util3d::cloudFromDisparity</ a ></ div >< div class = "ttdeci" > pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(const cv::Mat & imageDisparity, const StereoCameraModel & model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</ div >< div class = "ttdoc" > Converts a disparity image to a 3D point cloud.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_aefffe4f3418377f85659e7546668b190" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190" > rtabmap::util3d::loadScan</ a ></ div >< div class = "ttdeci" > LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path)</ div >< div class = "ttdoc" > Loads a 3D scan from a file (.pcd, .ply, or .bin format).</ 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 >
2026-08-02 01:36:11 +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#l00039" > BayesFilter.h:39</ a ></ div ></ div >
2026-08-02 07:56:38 +00:00
< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
2026-08-02 01:36:11 +00:00
< div class = "ttc" id = "astructrtabmap_1_1PointXYZIRT_html" >< div class = "ttname" >< a href = "structrtabmap_1_1PointXYZIRT.html" > rtabmap::PointXYZIRT</ a ></ div >< div class = "ttdoc" > This namespace contains 3D point cloud processing utilities.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "util3d_8h_source.html#l00057" > util3d.h:58</ a ></ div ></ div >
</ div > <!-- fragment --> </ div > <!-- contents -->
2026-08-02 07:56:38 +00:00
</ div > <!-- doc-content -->
2026-08-02 01:36:11 +00:00
<!-- start footer part -->
2026-08-02 07:56:38 +00:00
< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
< ul >
< li class = "navelem" >< a class = "el" href = "dir_04d49acea3c42cab2afcd35cb2f2a48f.html" > corelib</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_e996b11fd4b3a747423759b16a8ba4a6.html" > include</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "dir_884419f21456e80aa47bc1d0c2ab0140.html" > core</ a ></ li >< li class = "navelem" >< b > util3d.h</ b ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
</ ul >
</ div >
2026-08-02 01:36:11 +00:00
</ body >
</ html >
