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< div class = "headertitle" >< div class = "title" > util3d_surface.h</ div ></ div >
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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< 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 >
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< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
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< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
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< div class = "line" >< a id = "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 >
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< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef UTIL3D_SURFACE_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define UTIL3D_SURFACE_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/PolygonMesh.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < pcl/point_cloud.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < pcl/point_types.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 < pcl/pcl_base.h> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #include < rtabmap/core/Transform.h> </ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #include < rtabmap/core/CameraModel.h> </ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #include < rtabmap/core/ProgressState.h> </ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include < rtabmap/core/LaserScan.h> </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #include < rtabmap/core/Version.h> </ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "preprocessor" > #include < set> </ 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 = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span >< span class = "keyword" > class </ span > Memory;</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span >< span class = "keyword" > class </ span > DBDriver;</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > </ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span >< span class = "keyword" > namespace </ span > util3d</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > {</ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > </ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62" > 64</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62" > createPolygonIndexes</ a > (</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > < span class = "keywordtype" > int</ span > cloudSize,</ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span > std::vector< std::set< int> > & neighborPolygons,</ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > std::vector< std::set< int> > & vertexPolygons);</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > </ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > std::list< std::list< int> > RTABMAP_CORE_EXPORT clusterPolygons(</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > < span class = "keyword" > const</ span > std::vector< std::set< int> > & neighborPolygons,</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > < span class = "keywordtype" > int</ span > minClusterSize = 0);</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > </ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > std::vector< pcl::Vertices> RTABMAP_CORE_EXPORT organizedFastMesh(</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > < span class = "keywordtype" > double</ span > angleTolerance,</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > < span class = "keywordtype" > bool</ span > quad,</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "keywordtype" > int</ span > trianglePixelSize,</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > std::vector< pcl::Vertices> RTABMAP_CORE_EXPORT organizedFastMesh(</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > < span class = "keywordtype" > double</ span > angleTolerance = M_PI/16,</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > < span class = "keywordtype" > bool</ span > quad=< span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > < span class = "keywordtype" > int</ span > trianglePixelSize = 2,</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span > std::vector< pcl::Vertices> RTABMAP_CORE_EXPORT organizedFastMesh(</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > < span class = "keywordtype" > double</ span > angleTolerance = M_PI/16,</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > < span class = "keywordtype" > bool</ span > quad=< span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span > < span class = "keywordtype" > int</ span > trianglePixelSize = 2,</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > </ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT appendMesh(</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & cloudA,</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > std::vector< pcl::Vertices> & polygonsA,</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & cloudB,</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygonsB);</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT appendMesh(</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloudA,</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > std::vector< pcl::Vertices> & polygonsA,</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloudB,</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygonsB);</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span > </ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span >< span class = "comment" > // return map from new to old polygon indices</ span ></ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > std::vector< int> RTABMAP_CORE_EXPORT filterNotUsedVerticesFromMesh(</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & cloud,</ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & outputCloud,</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > std::vector< pcl::Vertices> & outputPolygons);</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > std::vector< int> RTABMAP_CORE_EXPORT filterNotUsedVerticesFromMesh(</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloud,</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > pcl::PointCloud< pcl::PointXYZRGB> & outputCloud,</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > std::vector< pcl::Vertices> & outputPolygons);</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > std::vector< int> RTABMAP_CORE_EXPORT filterNaNPointsFromMesh(</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> & cloud,</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > pcl::PointCloud< pcl::PointXYZRGB> & outputCloud,</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > std::vector< pcl::Vertices> & outputPolygons);</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > </ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > std::vector< pcl::Vertices> RTABMAP_CORE_EXPORT filterCloseVerticesFromMesh(</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr cloud,</ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > < span class = "keywordtype" > float</ span > radius,</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > < span class = "keywordtype" > float</ span > angle,</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keywordtype" > bool</ span > keepLatestInRadius);</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > </ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > std::vector< pcl::Vertices> RTABMAP_CORE_EXPORT filterInvalidPolygons(</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons);</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > </ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT createMesh(</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr & cloudWithNormals,</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > < span class = "keywordtype" > float</ span > gp3SearchRadius = 0.025,</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > < span class = "keywordtype" > float</ span > gp3Mu = 2.5,</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > < span class = "keywordtype" > int</ span > gp3MaximumNearestNeighbors = 100,</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > < span class = "keywordtype" > float</ span > gp3MaximumSurfaceAngle = M_PI/4,</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > < span class = "keywordtype" > float</ span > gp3MinimumAngle = M_PI/18,</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > < span class = "keywordtype" > float</ span > gp3MaximumAngle = 2*M_PI/3,</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < span class = "keywordtype" > bool</ span > gp3NormalConsistency = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > </ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > < span class = "keyword" > const</ span > pcl::PolygonMesh::Ptr & mesh,</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > < span class = "keyword" > const</ span > std::map< int, CameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > < span class = "keyword" > const</ span > std::map< int, cv::Mat> & cameraDepths,</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > < span class = "keywordtype" > float</ span > maxDistance = 0.0f, < span class = "comment" > // max camera distance to polygon to apply texture</ span ></ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > < span class = "keywordtype" > float</ span > maxDepthError = 0.0f, < span class = "comment" > // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)</ span ></ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > < span class = "keywordtype" > float</ span > maxAngle = 0.0f, < span class = "comment" > // maximum angle between camera and face (0=disabled)</ span ></ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > < span class = "keywordtype" > int</ span > minClusterSize = 50, < span class = "comment" > // minimum size of polygons clusters textured</ span ></ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (), < span class = "comment" > // [left, right, top, bottom] region of interest (in ratios) of the image projected.</ span ></ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ 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 = "l00152" name = "l00152" ></ a >< span class = "lineno" > 152</ span > std::vector< std::map< int, pcl::PointXY> > * vertexToPixels = 0, < span class = "comment" > // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don' t correspond to pose ids, they are indexes from 0 to total camera models and texture' s materials.</ span ></ div >
2026-08-31 01:05:33 +00:00
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span > < span class = "keywordtype" > bool</ span > distanceToCamPolicy = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" > 154</ span > < span class = "keywordtype" > int</ span > numThreads = 1); < span class = "comment" > // number of threads used to compute the visible faces of the cameras (1=sequential)</ span ></ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > < span class = "keyword" > const</ span > pcl::PolygonMesh::Ptr & mesh,</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::vector< CameraModel> > & cameraModels,</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > < span class = "keyword" > const</ span > std::map< int, cv::Mat> & cameraDepths,</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > < span class = "keywordtype" > float</ span > maxDistance = 0.0f, < span class = "comment" > // max camera distance to polygon to apply texture</ span ></ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > < span class = "keywordtype" > float</ span > maxDepthError = 0.0f, < span class = "comment" > // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)</ span ></ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > < span class = "keywordtype" > float</ span > maxAngle = 0.0f, < span class = "comment" > // maximum angle between camera and face (0=disabled)</ span ></ div >
< div class = "line" >< a id = "l00163" name = "l00163" ></ a >< span class = "lineno" > 163</ span > < span class = "keywordtype" > int</ span > minClusterSize = 50, < span class = "comment" > // minimum size of polygons clusters textured</ span ></ div >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" > 164</ span > < span class = "keyword" > const</ span > std::vector< float> & roiRatios = std::vector< float> (), < span class = "comment" > // [left, right, top, bottom] region of interest (in ratios) of the image projected.</ span ></ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ 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 = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > std::vector< std::map< int, pcl::PointXY> > * vertexToPixels = 0, < span class = "comment" > // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don' t correspond to pose ids, they are indexes from 0 to total camera models and texture' s materials.</ span ></ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > < span class = "keywordtype" > bool</ span > distanceToCamPolicy = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" > 168</ span > < span class = "keywordtype" > int</ span > numThreads = 1); < span class = "comment" > // number of threads used to compute the visible faces of the cameras (1=sequential)</ span ></ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > </ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0" > 173</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0" > cleanTextureMesh</ a > (</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > pcl::TextureMesh & textureMesh,</ div >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > < span class = "keywordtype" > int</ span > minClusterSize);</ div >
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span > </ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" > 177</ span > pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT concatenateTextureMeshes(</ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > < span class = "keyword" > const</ span > std::list< pcl::TextureMesh::Ptr> & meshes);</ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > </ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT concatenateTextureMaterials(</ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > pcl::TextureMesh & mesh, < span class = "keyword" > const</ span > cv::Size & imageSize, < span class = "keywordtype" > int</ span > textureSize, < span class = "keywordtype" > int</ span > maxTextures, < span class = "keywordtype" > float</ span > & scale, std::vector< bool> * materialsKept=0);</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > </ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > std::vector< std::vector< RTABMAP_PCL_INDEX> > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons);</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(</ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span > < span class = "keyword" > const</ span > std::vector< std::vector< pcl::Vertices> > & polygons);</ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > std::vector< pcl::Vertices> RTABMAP_CORE_EXPORT convertPolygonsToPCL(</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > < span class = "keyword" > const</ span > std::vector< std::vector< RTABMAP_PCL_INDEX> > & polygons);</ div >
< div class = "line" >< a id = "l00189" name = "l00189" ></ a >< span class = "lineno" > 189</ span > std::vector< std::vector< pcl::Vertices> > RTABMAP_CORE_EXPORT convertPolygonsToPCL(</ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" > 190</ span > < span class = "keyword" > const</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > & tex_polygons);</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > </ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT assembleTextureMesh(</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > < span class = "keyword" > const</ span > cv::Mat & cloudMat,</ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "keyword" > const</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > & polygons,</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > #< span class = "keywordflow" > if</ span > PCL_VERSION_COMPARE(> =, 1, 8, 0)</ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > & texCoords,</ div >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" > 197</ span > #< span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" > 198</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f> > & texCoords,</ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > #endif</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > cv::Mat & textures,</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238" > mergeTextures</ a > = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > </ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT assemblePolygonMesh(</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > < span class = "keyword" > const</ span > cv::Mat & cloudMat,</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > < span class = "keyword" > const</ span > std::vector< std::vector< RTABMAP_PCL_INDEX> > & polygons);</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > </ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238" > 211</ a ></ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238" > mergeTextures</ a > (</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > pcl::TextureMesh & mesh,</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > < span class = "keyword" > const</ span > std::map< int, cv::Mat> & images, < span class = "comment" > // raw or compressed, can be empty if memory or dbDriver should be used</ span ></ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > < span class = "keyword" > const</ span > std::map< int, CameraModel> & calibrations, < span class = "comment" > // Should match images</ span ></ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Memory.html" > Memory</ a > * memory = 0, < span class = "comment" > // Should be set if images are not set</ span ></ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * dbDriver = 0, < span class = "comment" > // Should be set if images and memory are not set</ span ></ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" > 217</ span > < span class = "keywordtype" > int</ span > textureSize = 4096,</ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > < span class = "keywordtype" > int</ span > textureCount = 1,</ div >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" > 219</ span > < span class = "keyword" > const</ span > std::vector< std::map< int, pcl::PointXY> > & vertexToPixels = std::vector< std::map< int, pcl::PointXY> > (), < span class = "comment" > // needed for parameters below</ span ></ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span > < span class = "keywordtype" > bool</ span > gainCompensation = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span > < span class = "keywordtype" > float</ span > gainBeta = 10.0f,</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > < span class = "keywordtype" > bool</ span > gainRGB = < span class = "keyword" > true</ span > , < span class = "comment" > //Do gain compensation on each channel</ span ></ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < span class = "keywordtype" > bool</ span > blending = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > < span class = "keywordtype" > int</ span > blendingDecimation = 0, < span class = "comment" > //0=auto depending on projected polygon size and texture size</ span ></ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < span class = "keywordtype" > int</ span > brightnessContrastRatioLow = 0, < span class = "comment" > //0=disabled, values between 0 and 100</ span ></ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > < span class = "keywordtype" > int</ span > brightnessContrastRatioHigh = 0, < span class = "comment" > //0=disabled, values between 0 and 100</ span ></ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > < span class = "keywordtype" > bool</ span > exposureFusion = < span class = "keyword" > false</ span > , < span class = "comment" > //Exposure fusion can be used only with OpenCV3</ span ></ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ 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 = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > blankValue = 255, < span class = "comment" > //Gray value for blank polygons (without texture)</ span ></ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > < span class = "keywordtype" > bool</ span > clearVertexColorUnderTexture = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Vec4d> > * gains = 0, < span class = "comment" > // < Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B> </ span ></ div >
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Mat> > * blendingGains = 0, < span class = "comment" > // < Camera ID, Camera Sub Index (multi-cameras), gains> </ span ></ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span > std::pair< float, float> * contrastValues = 0); < span class = "comment" > // Alpha/beta contrast values</ span ></ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" > 234</ span > cv::Mat RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238" > mergeTextures</ a > (</ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span > pcl::TextureMesh & mesh,</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > < span class = "keyword" > const</ span > std::map< int, cv::Mat> & images, < span class = "comment" > // raw or compressed, can be empty if memory or dbDriver should be used</ span ></ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::vector< CameraModel> > & calibrations, < span class = "comment" > // Should match images</ span ></ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Memory.html" > Memory</ a > * memory = 0, < span class = "comment" > // Should be set if images are not set</ span ></ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * dbDriver = 0, < span class = "comment" > // Should be set if images and memory are not set</ span ></ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > < span class = "keywordtype" > int</ span > textureSize = 4096,</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > < span class = "keywordtype" > int</ span > textureCount = 1,</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > < span class = "keyword" > const</ span > std::vector< std::map< int, pcl::PointXY> > & vertexToPixels = std::vector< std::map< int, pcl::PointXY> > (), < span class = "comment" > // needed for parameters below</ span ></ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > < span class = "keywordtype" > bool</ span > gainCompensation = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > < span class = "keywordtype" > float</ span > gainBeta = 10.0f,</ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > < span class = "keywordtype" > bool</ span > gainRGB = < span class = "keyword" > true</ span > , < span class = "comment" > //Do gain compensation on each channel</ span ></ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span > < span class = "keywordtype" > bool</ span > blending = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00247" name = "l00247" ></ a >< span class = "lineno" > 247</ span > < span class = "keywordtype" > int</ span > blendingDecimation = 0, < span class = "comment" > //0=auto depending on projected polygon size and texture size</ span ></ div >
< div class = "line" >< a id = "l00248" name = "l00248" ></ a >< span class = "lineno" > 248</ span > < span class = "keywordtype" > int</ span > brightnessContrastRatioLow = 0, < span class = "comment" > //0=disabled, values between 0 and 100</ span ></ div >
< div class = "line" >< a id = "l00249" name = "l00249" ></ a >< span class = "lineno" > 249</ span > < span class = "keywordtype" > int</ span > brightnessContrastRatioHigh = 0, < span class = "comment" > //0=disabled, values between 0 and 100</ span ></ div >
< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" > 250</ span > < span class = "keywordtype" > bool</ span > exposureFusion = < span class = "keyword" > false</ span > , < span class = "comment" > //Exposure fusion can be used only with OpenCV3</ span ></ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ 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 = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > char</ span > blankValue = 255, < span class = "comment" > //Gray value for blank polygons (without texture)</ span ></ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" > 253</ span > < span class = "keywordtype" > bool</ span > clearVertexColorUnderTexture = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Vec4d> > * gains = 0, < span class = "comment" > // < Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B> </ span ></ div >
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Mat> > * blendingGains = 0, < span class = "comment" > // < Camera ID, Camera Sub Index (multi-cameras), gains> </ span ></ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span > std::pair< float, float> * contrastValues = 0); < span class = "comment" > // Alpha/beta contrast values</ span ></ div >
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< div class = "line" >< a id = "l00257" name = "l00257" ></ a >< span class = "lineno" > 257</ span > </ div >
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< div class = "line" >< a id = "l00258" name = "l00258" ></ a >< span class = "lineno" > 258</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);</ div >
< div class = "line" >< a id = "l00259" name = "l00259" ></ a >< span class = "lineno" > 259</ span > </ div >
< div class = "line" >< a id = "l00260" name = "l00260" ></ a >< span class = "lineno" > 260</ span >< span class = "comment" > // Use the same method with 22 parameters instead.</ span ></ div >
< div class = "line" >< a id = "l00261" name = "l00261" ></ a >< span class = "lineno" > 261</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > bool</ span > RTABMAP_CORE_EXPORT multiBandTexturing(</ div >
< div class = "line" >< a id = "l00262" name = "l00262" ></ a >< span class = "lineno" > 262</ span > < span class = "keyword" > const</ span > std::string & outputOBJPath,</ div >
< div class = "line" >< a id = "l00263" name = "l00263" ></ a >< span class = "lineno" > 263</ span > < span class = "keyword" > const</ span > pcl::PCLPointCloud2 & cloud,</ div >
< div class = "line" >< a id = "l00264" name = "l00264" ></ a >< span class = "lineno" > 264</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00265" name = "l00265" ></ a >< span class = "lineno" > 265</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & cameraPoses,</ div >
< div class = "line" >< a id = "l00266" name = "l00266" ></ a >< span class = "lineno" > 266</ span > < span class = "keyword" > const</ span > std::vector< std::map< int, pcl::PointXY> > & vertexToPixels, < span class = "comment" > // required output of util3d::createTextureMesh()</ span ></ div >
< div class = "line" >< a id = "l00267" name = "l00267" ></ a >< span class = "lineno" > 267</ span > < span class = "keyword" > const</ span > std::map< int, cv::Mat> & images, < span class = "comment" > // raw or compressed, can be empty if memory or dbDriver should be used</ span ></ div >
< div class = "line" >< a id = "l00268" name = "l00268" ></ a >< span class = "lineno" > 268</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::vector< CameraModel> > & cameraModels, < span class = "comment" > // Should match images</ span ></ div >
< div class = "line" >< a id = "l00269" name = "l00269" ></ a >< span class = "lineno" > 269</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Memory.html" > Memory</ a > * memory = 0, < span class = "comment" > // Should be set if images are not set</ span ></ div >
< div class = "line" >< a id = "l00270" name = "l00270" ></ a >< span class = "lineno" > 270</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * dbDriver = 0, < span class = "comment" > // Should be set if images and memory are not set</ span ></ div >
< div class = "line" >< a id = "l00271" name = "l00271" ></ a >< span class = "lineno" > 271</ span > < span class = "keywordtype" > int</ span > textureSize = 8192,</ div >
< div class = "line" >< a id = "l00272" name = "l00272" ></ a >< span class = "lineno" > 272</ span > < span class = "keyword" > const</ span > std::string & textureFormat = < span class = "stringliteral" > " jpg" </ span > , < span class = "comment" > // png, jpg</ span ></ div >
< div class = "line" >< a id = "l00273" name = "l00273" ></ a >< span class = "lineno" > 273</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Vec4d> > & gains = std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Vec4d> > (), < span class = "comment" > // optional output of util3d::mergeTextures()</ span ></ div >
< div class = "line" >< a id = "l00274" name = "l00274" ></ a >< span class = "lineno" > 274</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Mat> > & blendingGains = std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Mat> > (), < span class = "comment" > // optional output of util3d::mergeTextures()</ span ></ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" > 275</ span > < span class = "keyword" > const</ span > std::pair< float, float> & contrastValues = std::pair< float, float> (0,0), < span class = "comment" > // optional output of util3d::mergeTextures()</ span ></ div >
< div class = "line" >< a id = "l00276" name = "l00276" ></ a >< span class = "lineno" > 276</ span > < span class = "keywordtype" > bool</ span > gainRGB = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00277" name = "l00277" ></ a >< span class = "lineno" > 277</ span > </ div >
< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#a695eb29e9b2679634edb6b8c36a11942" > 304</ a ></ span >< span class = "keywordtype" > bool</ span > RTABMAP_CORE_EXPORT multiBandTexturing(</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > < span class = "keyword" > const</ span > std::string & outputOBJPath,</ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span > < span class = "keyword" > const</ span > pcl::PCLPointCloud2 & cloud,</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" > 307</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" > 308</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & cameraPoses,</ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" > 309</ span > < span class = "keyword" > const</ span > std::vector< std::map< int, pcl::PointXY> > & vertexToPixels,</ div >
< div class = "line" >< a id = "l00310" name = "l00310" ></ a >< span class = "lineno" > 310</ span > < span class = "keyword" > const</ span > std::map< int, cv::Mat> & images,</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" > 311</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::vector< CameraModel> > & cameraModels,</ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" > 312</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Memory.html" > Memory</ a > * memory = 0,</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" > 313</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * dbDriver = 0,</ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > textureSize = 8192,</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" > 315</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > textureDownscale = 2,</ div >
< div class = "line" >< a id = "l00316" name = "l00316" ></ a >< span class = "lineno" > 316</ span > < span class = "keyword" > const</ span > std::string & nbContrib = < span class = "stringliteral" > " 1 5 10 0" </ span > ,</ div >
< div class = "line" >< a id = "l00317" name = "l00317" ></ a >< span class = "lineno" > 317</ span > < span class = "keyword" > const</ span > std::string & textureFormat = < span class = "stringliteral" > " jpg" </ span > ,</ div >
< div class = "line" >< a id = "l00318" name = "l00318" ></ a >< span class = "lineno" > 318</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Vec4d> > & gains = std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Vec4d> > (),</ div >
< div class = "line" >< a id = "l00319" name = "l00319" ></ a >< span class = "lineno" > 319</ span > < span class = "keyword" > const</ span > std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Mat> > & blendingGains = std::map< < span class = "keywordtype" > int</ span > , std::map< int, cv::Mat> > (),</ div >
< div class = "line" >< a id = "l00320" name = "l00320" ></ a >< span class = "lineno" > 320</ span > < span class = "keyword" > const</ span > std::pair< float, float> & contrastValues = std::pair< float, float> (0,0),</ div >
< div class = "line" >< a id = "l00321" name = "l00321" ></ a >< span class = "lineno" > 321</ span > < span class = "keywordtype" > bool</ span > gainRGB = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00322" name = "l00322" ></ a >< span class = "lineno" > 322</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > unwrapMethod = 0,</ div >
< div class = "line" >< a id = "l00323" name = "l00323" ></ a >< span class = "lineno" > 323</ span > < span class = "keywordtype" > bool</ span > fillHoles = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00324" name = "l00324" ></ a >< span class = "lineno" > 324</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > padding = 5,</ div >
< div class = "line" >< a id = "l00325" name = "l00325" ></ a >< span class = "lineno" > 325</ span > < span class = "keywordtype" > double</ span > bestScoreThreshold = 0.1,</ div >
< div class = "line" >< a id = "l00326" name = "l00326" ></ a >< span class = "lineno" > 326</ span > < span class = "keywordtype" > double</ span > angleHardThreshold = 90.0,</ div >
< div class = "line" >< a id = "l00327" name = "l00327" ></ a >< span class = "lineno" > 327</ span > < span class = "keywordtype" > bool</ span > forceVisibleByAllVertices = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00328" name = "l00328" ></ a >< span class = "lineno" > 328</ span > </ div >
< div class = "line" >< a id = "l00329" name = "l00329" ></ a >< span class = "lineno" > 329</ span > cv::Mat RTABMAP_CORE_EXPORT computeNormals(</ div >
< div class = "line" >< a id = "l00330" name = "l00330" ></ a >< span class = "lineno" > 330</ span > < span class = "keyword" > const</ span > cv::Mat & laserScan,</ div >
< div class = "line" >< a id = "l00331" name = "l00331" ></ a >< span class = "lineno" > 331</ span > < span class = "keywordtype" > int</ span > searchK,</ div >
< div class = "line" >< a id = "l00332" name = "l00332" ></ a >< span class = "lineno" > 332</ span > < span class = "keywordtype" > float</ span > searchRadius);</ div >
< div class = "line" >< a id = "l00333" name = "l00333" ></ a >< span class = "lineno" > 333</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals(</ div >
< div class = "line" >< a id = "l00334" name = "l00334" ></ a >< span class = "lineno" > 334</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00335" name = "l00335" ></ a >< span class = "lineno" > 335</ span > < span class = "keywordtype" > int</ span > searchK = 20,</ div >
< div class = "line" >< a id = "l00336" name = "l00336" ></ a >< span class = "lineno" > 336</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00337" name = "l00337" ></ a >< span class = "lineno" > 337</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00338" name = "l00338" ></ a >< span class = "lineno" > 338</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals(</ div >
< div class = "line" >< a id = "l00339" name = "l00339" ></ a >< span class = "lineno" > 339</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00340" name = "l00340" ></ a >< span class = "lineno" > 340</ span > < span class = "keywordtype" > int</ span > searchK = 20,</ div >
< div class = "line" >< a id = "l00341" name = "l00341" ></ a >< span class = "lineno" > 341</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00342" name = "l00342" ></ a >< span class = "lineno" > 342</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00343" name = "l00343" ></ a >< span class = "lineno" > 343</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals(</ div >
< div class = "line" >< a id = "l00344" name = "l00344" ></ a >< span class = "lineno" > 344</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00345" name = "l00345" ></ a >< span class = "lineno" > 345</ span > < span class = "keywordtype" > int</ span > searchK = 20,</ div >
< div class = "line" >< a id = "l00346" name = "l00346" ></ a >< span class = "lineno" > 346</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00347" name = "l00347" ></ a >< span class = "lineno" > 347</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00348" name = "l00348" ></ a >< span class = "lineno" > 348</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals(</ div >
< div class = "line" >< a id = "l00349" name = "l00349" ></ a >< span class = "lineno" > 349</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00350" name = "l00350" ></ a >< span class = "lineno" > 350</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indices,</ div >
< div class = "line" >< a id = "l00351" name = "l00351" ></ a >< span class = "lineno" > 351</ span > < span class = "keywordtype" > int</ span > searchK = 20,</ div >
< div class = "line" >< a id = "l00352" name = "l00352" ></ a >< span class = "lineno" > 352</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" > 353</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00354" name = "l00354" ></ a >< span class = "lineno" > 354</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals(</ div >
< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" > 355</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00356" name = "l00356" ></ a >< span class = "lineno" > 356</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indices,</ div >
< div class = "line" >< a id = "l00357" name = "l00357" ></ a >< span class = "lineno" > 357</ span > < span class = "keywordtype" > int</ span > searchK = 20,</ div >
< div class = "line" >< a id = "l00358" name = "l00358" ></ a >< span class = "lineno" > 358</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00359" name = "l00359" ></ a >< span class = "lineno" > 359</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00360" name = "l00360" ></ a >< span class = "lineno" > 360</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals(</ div >
< div class = "line" >< a id = "l00361" name = "l00361" ></ a >< span class = "lineno" > 361</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00362" name = "l00362" ></ a >< span class = "lineno" > 362</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indices,</ div >
< div class = "line" >< a id = "l00363" name = "l00363" ></ a >< span class = "lineno" > 363</ span > < span class = "keywordtype" > int</ span > searchK = 20,</ div >
< div class = "line" >< a id = "l00364" name = "l00364" ></ a >< span class = "lineno" > 364</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00365" name = "l00365" ></ a >< span class = "lineno" > 365</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00366" name = "l00366" ></ a >< span class = "lineno" > 366</ span > </ div >
< div class = "line" >< a id = "l00367" name = "l00367" ></ a >< span class = "lineno" > 367</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals2D(</ div >
< div class = "line" >< a id = "l00368" name = "l00368" ></ a >< span class = "lineno" > 368</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00369" name = "l00369" ></ a >< span class = "lineno" > 369</ span > < span class = "keywordtype" > int</ span > searchK = 5,</ div >
< div class = "line" >< a id = "l00370" name = "l00370" ></ a >< span class = "lineno" > 370</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00371" name = "l00371" ></ a >< span class = "lineno" > 371</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00372" name = "l00372" ></ a >< span class = "lineno" > 372</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeNormals2D(</ div >
< div class = "line" >< a id = "l00373" name = "l00373" ></ a >< span class = "lineno" > 373</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00374" name = "l00374" ></ a >< span class = "lineno" > 374</ span > < span class = "keywordtype" > int</ span > searchK = 5,</ div >
< div class = "line" >< a id = "l00375" name = "l00375" ></ a >< span class = "lineno" > 375</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00376" name = "l00376" ></ a >< span class = "lineno" > 376</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00377" name = "l00377" ></ a >< span class = "lineno" > 377</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(</ div >
< div class = "line" >< a id = "l00378" name = "l00378" ></ a >< span class = "lineno" > 378</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00379" name = "l00379" ></ a >< span class = "lineno" > 379</ span > < span class = "keywordtype" > int</ span > searchK = 5,</ div >
< div class = "line" >< a id = "l00380" name = "l00380" ></ a >< span class = "lineno" > 380</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00381" name = "l00381" ></ a >< span class = "lineno" > 381</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00382" name = "l00382" ></ a >< span class = "lineno" > 382</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(</ div >
< div class = "line" >< a id = "l00383" name = "l00383" ></ a >< span class = "lineno" > 383</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZI> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00384" name = "l00384" ></ a >< span class = "lineno" > 384</ span > < span class = "keywordtype" > int</ span > searchK = 5,</ div >
< div class = "line" >< a id = "l00385" name = "l00385" ></ a >< span class = "lineno" > 385</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00386" name = "l00386" ></ a >< span class = "lineno" > 386</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00387" name = "l00387" ></ a >< span class = "lineno" > 387</ span > </ div >
< div class = "line" >< a id = "l00388" name = "l00388" ></ a >< span class = "lineno" > 388</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(</ div >
< div class = "line" >< a id = "l00389" name = "l00389" ></ a >< span class = "lineno" > 389</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00390" name = "l00390" ></ a >< span class = "lineno" > 390</ span > < span class = "keywordtype" > float</ span > maxDepthChangeFactor = 0.02f,</ div >
< div class = "line" >< a id = "l00391" name = "l00391" ></ a >< span class = "lineno" > 391</ span > < span class = "keywordtype" > float</ span > normalSmoothingSize = 10.0f,</ div >
< div class = "line" >< a id = "l00392" name = "l00392" ></ a >< span class = "lineno" > 392</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00393" name = "l00393" ></ a >< span class = "lineno" > 393</ span > pcl::PointCloud< pcl::Normal> ::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(</ div >
< div class = "line" >< a id = "l00394" name = "l00394" ></ a >< span class = "lineno" > 394</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00395" name = "l00395" ></ a >< span class = "lineno" > 395</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indices,</ div >
< div class = "line" >< a id = "l00396" name = "l00396" ></ a >< span class = "lineno" > 396</ span > < span class = "keywordtype" > float</ span > maxDepthChangeFactor = 0.02f,</ div >
< div class = "line" >< a id = "l00397" name = "l00397" ></ a >< span class = "lineno" > 397</ span > < span class = "keywordtype" > float</ span > normalSmoothingSize = 10.0f,</ div >
< div class = "line" >< a id = "l00398" name = "l00398" ></ a >< span class = "lineno" > 398</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</ div >
< div class = "line" >< a id = "l00399" name = "l00399" ></ a >< span class = "lineno" > 399</ span > </ div >
< div class = "line" >< a id = "l00435" name = "l00435" ></ a >< span class = "lineno" >< a class = "line" href = "group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58" > 435</ a ></ span >< span class = "keywordtype" > float</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58" > computeNormalsComplexity</ a > (</ div >
< div class = "line" >< a id = "l00436" name = "l00436" ></ a >< span class = "lineno" > 436</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan,</ div >
< div class = "line" >< a id = "l00437" name = "l00437" ></ a >< span class = "lineno" > 437</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (),</ div >
< div class = "line" >< a id = "l00438" name = "l00438" ></ a >< span class = "lineno" > 438</ span > cv::Mat * pcaEigenVectors = 0,</ div >
< div class = "line" >< a id = "l00439" name = "l00439" ></ a >< span class = "lineno" > 439</ span > cv::Mat * pcaEigenValues = 0,</ div >
< div class = "line" >< a id = "l00440" name = "l00440" ></ a >< span class = "lineno" > 440</ span > < span class = "keywordtype" > bool</ span > centered = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00442" name = "l00442" ></ a >< span class = "lineno" >< a class = "line" href = "group__ComputeNormalsComplexity.html#ga5a68422282e99f8d05c0821eac491895" > 442</ a ></ span >< span class = "keywordtype" > float</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58" > computeNormalsComplexity</ a > (</ div >
< div class = "line" >< a id = "l00443" name = "l00443" ></ a >< span class = "lineno" > 443</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::Normal> & normals,</ div >
< div class = "line" >< a id = "l00444" name = "l00444" ></ a >< span class = "lineno" > 444</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (),</ div >
< div class = "line" >< a id = "l00445" name = "l00445" ></ a >< span class = "lineno" > 445</ span > < span class = "keywordtype" > bool</ span > is2d = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00446" name = "l00446" ></ a >< span class = "lineno" > 446</ span > cv::Mat * pcaEigenVectors = 0,</ div >
< div class = "line" >< a id = "l00447" name = "l00447" ></ a >< span class = "lineno" > 447</ span > cv::Mat * pcaEigenValues = 0,</ div >
< div class = "line" >< a id = "l00448" name = "l00448" ></ a >< span class = "lineno" > 448</ span > < span class = "keywordtype" > bool</ span > centered = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00450" name = "l00450" ></ a >< span class = "lineno" >< a class = "line" href = "group__ComputeNormalsComplexity.html#ga13a6d7525494d390041c9ef0337e02dd" > 450</ a ></ span >< span class = "keywordtype" > float</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58" > computeNormalsComplexity</ a > (</ div >
< div class = "line" >< a id = "l00451" name = "l00451" ></ a >< span class = "lineno" > 451</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointNormal> & cloud,</ div >
< div class = "line" >< a id = "l00452" name = "l00452" ></ a >< span class = "lineno" > 452</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (),</ div >
< div class = "line" >< a id = "l00453" name = "l00453" ></ a >< span class = "lineno" > 453</ span > < span class = "keywordtype" > bool</ span > is2d = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00454" name = "l00454" ></ a >< span class = "lineno" > 454</ span > cv::Mat * pcaEigenVectors = 0,</ div >
< div class = "line" >< a id = "l00455" name = "l00455" ></ a >< span class = "lineno" > 455</ span > cv::Mat * pcaEigenValues = 0,</ div >
< div class = "line" >< a id = "l00456" name = "l00456" ></ a >< span class = "lineno" > 456</ span > < span class = "keywordtype" > bool</ span > centered = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00458" name = "l00458" ></ a >< span class = "lineno" >< a class = "line" href = "group__ComputeNormalsComplexity.html#ga6e03130bf686d43ea527dc8e6f5cce55" > 458</ a ></ span >< span class = "keywordtype" > float</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58" > computeNormalsComplexity</ a > (</ div >
< div class = "line" >< a id = "l00459" name = "l00459" ></ a >< span class = "lineno" > 459</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZINormal> & cloud,</ div >
< div class = "line" >< a id = "l00460" name = "l00460" ></ a >< span class = "lineno" > 460</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (),</ div >
< div class = "line" >< a id = "l00461" name = "l00461" ></ a >< span class = "lineno" > 461</ span > < span class = "keywordtype" > bool</ span > is2d = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00462" name = "l00462" ></ a >< span class = "lineno" > 462</ span > cv::Mat * pcaEigenVectors = 0,</ div >
< div class = "line" >< a id = "l00463" name = "l00463" ></ a >< span class = "lineno" > 463</ span > cv::Mat * pcaEigenValues = 0,</ div >
< div class = "line" >< a id = "l00464" name = "l00464" ></ a >< span class = "lineno" > 464</ span > < span class = "keywordtype" > bool</ span > centered = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00466" name = "l00466" ></ a >< span class = "lineno" >< a class = "line" href = "group__ComputeNormalsComplexity.html#ga3e024c51a6a49d1c8e6b64c230148137" > 466</ a ></ span >< span class = "keywordtype" > float</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58" > computeNormalsComplexity</ a > (</ div >
< div class = "line" >< a id = "l00467" name = "l00467" ></ a >< span class = "lineno" > 467</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> & cloud,</ div >
< div class = "line" >< a id = "l00468" name = "l00468" ></ a >< span class = "lineno" > 468</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & t = < a class = "code hl_function" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (),</ div >
< div class = "line" >< a id = "l00469" name = "l00469" ></ a >< span class = "lineno" > 469</ span > < span class = "keywordtype" > bool</ span > is2d = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00470" name = "l00470" ></ a >< span class = "lineno" > 470</ span > cv::Mat * pcaEigenVectors = 0,</ div >
< div class = "line" >< a id = "l00471" name = "l00471" ></ a >< span class = "lineno" > 471</ span > cv::Mat * pcaEigenValues = 0,</ div >
< div class = "line" >< a id = "l00472" name = "l00472" ></ a >< span class = "lineno" > 472</ span > < span class = "keywordtype" > bool</ span > centered = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00475" name = "l00475" ></ a >< span class = "lineno" > 475</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr RTABMAP_CORE_EXPORT mls(</ div >
< div class = "line" >< a id = "l00476" name = "l00476" ></ a >< span class = "lineno" > 476</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00477" name = "l00477" ></ a >< span class = "lineno" > 477</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00478" name = "l00478" ></ a >< span class = "lineno" > 478</ span > < span class = "keywordtype" > int</ span > polygonialOrder = 2,</ div >
< div class = "line" >< a id = "l00479" name = "l00479" ></ a >< span class = "lineno" > 479</ span > < span class = "keywordtype" > int</ span > upsamplingMethod = 0, < span class = "comment" > // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION</ span ></ div >
< div class = "line" >< a id = "l00480" name = "l00480" ></ a >< span class = "lineno" > 480</ span > < span class = "keywordtype" > float</ span > upsamplingRadius = 0.0f, < span class = "comment" > // SAMPLE_LOCAL_PLANE</ span ></ div >
< div class = "line" >< a id = "l00481" name = "l00481" ></ a >< span class = "lineno" > 481</ span > < span class = "keywordtype" > float</ span > upsamplingStep = 0.0f, < span class = "comment" > // SAMPLE_LOCAL_PLANE</ span ></ div >
< div class = "line" >< a id = "l00482" name = "l00482" ></ a >< span class = "lineno" > 482</ span > < span class = "keywordtype" > int</ span > pointDensity = 0, < span class = "comment" > // RANDOM_UNIFORM_DENSITY</ span ></ div >
< div class = "line" >< a id = "l00483" name = "l00483" ></ a >< span class = "lineno" > 483</ span > < span class = "keywordtype" > float</ span > dilationVoxelSize = 1.0f, < span class = "comment" > // VOXEL_GRID_DILATION</ span ></ div >
< div class = "line" >< a id = "l00484" name = "l00484" ></ a >< span class = "lineno" > 484</ span > < span class = "keywordtype" > int</ span > dilationIterations = 0); < span class = "comment" > // VOXEL_GRID_DILATION</ span ></ div >
< div class = "line" >< a id = "l00485" name = "l00485" ></ a >< span class = "lineno" > 485</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr RTABMAP_CORE_EXPORT mls(</ div >
< div class = "line" >< a id = "l00486" name = "l00486" ></ a >< span class = "lineno" > 486</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZRGB> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00487" name = "l00487" ></ a >< span class = "lineno" > 487</ span > < span class = "keyword" > const</ span > pcl::IndicesPtr & indices,</ div >
< div class = "line" >< a id = "l00488" name = "l00488" ></ a >< span class = "lineno" > 488</ span > < span class = "keywordtype" > float</ span > searchRadius = 0.0f,</ div >
< div class = "line" >< a id = "l00489" name = "l00489" ></ a >< span class = "lineno" > 489</ span > < span class = "keywordtype" > int</ span > polygonialOrder = 2,</ div >
< div class = "line" >< a id = "l00490" name = "l00490" ></ a >< span class = "lineno" > 490</ span > < span class = "keywordtype" > int</ span > upsamplingMethod = 0, < span class = "comment" > // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION</ span ></ div >
< div class = "line" >< a id = "l00491" name = "l00491" ></ a >< span class = "lineno" > 491</ span > < span class = "keywordtype" > float</ span > upsamplingRadius = 0.0f, < span class = "comment" > // SAMPLE_LOCAL_PLANE</ span ></ div >
< div class = "line" >< a id = "l00492" name = "l00492" ></ a >< span class = "lineno" > 492</ span > < span class = "keywordtype" > float</ span > upsamplingStep = 0.0f, < span class = "comment" > // SAMPLE_LOCAL_PLANE</ span ></ div >
< div class = "line" >< a id = "l00493" name = "l00493" ></ a >< span class = "lineno" > 493</ span > < span class = "keywordtype" > int</ span > pointDensity = 0, < span class = "comment" > // RANDOM_UNIFORM_DENSITY</ span ></ div >
< div class = "line" >< a id = "l00494" name = "l00494" ></ a >< span class = "lineno" > 494</ span > < span class = "keywordtype" > float</ span > dilationVoxelSize = 1.0f, < span class = "comment" > // VOXEL_GRID_DILATION</ span ></ div >
< div class = "line" >< a id = "l00495" name = "l00495" ></ a >< span class = "lineno" > 495</ span > < span class = "keywordtype" > int</ span > dilationIterations = 0); < span class = "comment" > // VOXEL_GRID_DILATION</ span ></ div >
< div class = "line" >< a id = "l00496" name = "l00496" ></ a >< span class = "lineno" > 496</ span > </ div >
< div class = "line" >< a id = "l00497" name = "l00497" ></ a >< span class = "lineno" > 497</ span >< span class = "comment" > // Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</ span ></ div >
< div class = "line" >< a id = "l00498" name = "l00498" ></ a >< span class = "lineno" > 498</ span > RTABMAP_DEPRECATED < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00499" name = "l00499" ></ a >< span class = "lineno" > 499</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan,</ div >
< div class = "line" >< a id = "l00500" name = "l00500" ></ a >< span class = "lineno" > 500</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint,</ div >
< div class = "line" >< a id = "l00501" name = "l00501" ></ a >< span class = "lineno" > 501</ span > < span class = "keywordtype" > bool</ span > forceGroundNormalsUp);</ div >
< div class = "line" >< a id = "l00502" name = "l00502" ></ a >< span class = "lineno" > 502</ span >< a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00503" name = "l00503" ></ a >< span class = "lineno" > 503</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan,</ div >
< div class = "line" >< a id = "l00504" name = "l00504" ></ a >< span class = "lineno" > 504</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</ div >
< div class = "line" >< a id = "l00505" name = "l00505" ></ a >< span class = "lineno" > 505</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00506" name = "l00506" ></ a >< span class = "lineno" > 506</ span >< span class = "comment" > // Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</ span ></ div >
< div class = "line" >< a id = "l00507" name = "l00507" ></ a >< span class = "lineno" > 507</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00508" name = "l00508" ></ a >< span class = "lineno" > 508</ span > pcl::PointCloud< pcl::PointNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00509" name = "l00509" ></ a >< span class = "lineno" > 509</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint,</ div >
< div class = "line" >< a id = "l00510" name = "l00510" ></ a >< span class = "lineno" > 510</ span > < span class = "keywordtype" > bool</ span > forceGroundNormalsUp);</ div >
< div class = "line" >< a id = "l00511" name = "l00511" ></ a >< span class = "lineno" > 511</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00512" name = "l00512" ></ a >< span class = "lineno" > 512</ span > pcl::PointCloud< pcl::PointNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00513" name = "l00513" ></ a >< span class = "lineno" > 513</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</ div >
< div class = "line" >< a id = "l00514" name = "l00514" ></ a >< span class = "lineno" > 514</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00515" name = "l00515" ></ a >< span class = "lineno" > 515</ span >< span class = "comment" > // Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</ span ></ div >
< div class = "line" >< a id = "l00516" name = "l00516" ></ a >< span class = "lineno" > 516</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00517" name = "l00517" ></ a >< span class = "lineno" > 517</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00518" name = "l00518" ></ a >< span class = "lineno" > 518</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint,</ div >
< div class = "line" >< a id = "l00519" name = "l00519" ></ a >< span class = "lineno" > 519</ span > < span class = "keywordtype" > bool</ span > forceGroundNormalsUp);</ div >
< div class = "line" >< a id = "l00520" name = "l00520" ></ a >< span class = "lineno" > 520</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00521" name = "l00521" ></ a >< span class = "lineno" > 521</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00522" name = "l00522" ></ a >< span class = "lineno" > 522</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</ div >
< div class = "line" >< a id = "l00523" name = "l00523" ></ a >< span class = "lineno" > 523</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00524" name = "l00524" ></ a >< span class = "lineno" > 524</ span >< span class = "comment" > // Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</ span ></ div >
< div class = "line" >< a id = "l00525" name = "l00525" ></ a >< span class = "lineno" > 525</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00526" name = "l00526" ></ a >< span class = "lineno" > 526</ span > pcl::PointCloud< pcl::PointXYZINormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00527" name = "l00527" ></ a >< span class = "lineno" > 527</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint,</ div >
< div class = "line" >< a id = "l00528" name = "l00528" ></ a >< span class = "lineno" > 528</ span > < span class = "keywordtype" > bool</ span > forceGroundNormalsUp);</ div >
< div class = "line" >< a id = "l00529" name = "l00529" ></ a >< span class = "lineno" > 529</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</ div >
< div class = "line" >< a id = "l00530" name = "l00530" ></ a >< span class = "lineno" > 530</ span > pcl::PointCloud< pcl::PointXYZINormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00531" name = "l00531" ></ a >< span class = "lineno" > 531</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</ div >
< div class = "line" >< a id = "l00532" name = "l00532" ></ a >< span class = "lineno" > 532</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00533" name = "l00533" ></ a >< span class = "lineno" > 533</ span > </ div >
< div class = "line" >< a id = "l00534" name = "l00534" ></ a >< span class = "lineno" > 534</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</ div >
< div class = "line" >< a id = "l00535" name = "l00535" ></ a >< span class = "lineno" > 535</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00536" name = "l00536" ></ a >< span class = "lineno" > 536</ span > < span class = "keyword" > const</ span > std::vector< int> & cameraIndices,</ div >
< div class = "line" >< a id = "l00537" name = "l00537" ></ a >< span class = "lineno" > 537</ span > pcl::PointCloud< pcl::PointNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00538" name = "l00538" ></ a >< span class = "lineno" > 538</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00539" name = "l00539" ></ a >< span class = "lineno" > 539</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</ div >
< div class = "line" >< a id = "l00540" name = "l00540" ></ a >< span class = "lineno" > 540</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00541" name = "l00541" ></ a >< span class = "lineno" > 541</ span > < span class = "keyword" > const</ span > std::vector< int> & cameraIndices,</ div >
< div class = "line" >< a id = "l00542" name = "l00542" ></ a >< span class = "lineno" > 542</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00543" name = "l00543" ></ a >< span class = "lineno" > 543</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00544" name = "l00544" ></ a >< span class = "lineno" > 544</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</ div >
< div class = "line" >< a id = "l00545" name = "l00545" ></ a >< span class = "lineno" > 545</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00546" name = "l00546" ></ a >< span class = "lineno" > 546</ span > < span class = "keyword" > const</ span > std::vector< int> & cameraIndices,</ div >
< div class = "line" >< a id = "l00547" name = "l00547" ></ a >< span class = "lineno" > 547</ span > pcl::PointCloud< pcl::PointXYZINormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00548" name = "l00548" ></ a >< span class = "lineno" > 548</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00549" name = "l00549" ></ a >< span class = "lineno" > 549</ span > </ div >
< div class = "line" >< a id = "l00550" name = "l00550" ></ a >< span class = "lineno" > 550</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</ div >
< div class = "line" >< a id = "l00551" name = "l00551" ></ a >< span class = "lineno" > 551</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00552" name = "l00552" ></ a >< span class = "lineno" > 552</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & rawCloud,</ div >
< div class = "line" >< a id = "l00553" name = "l00553" ></ a >< span class = "lineno" > 553</ span > < span class = "keyword" > const</ span > std::vector< int> & rawCameraIndices,</ div >
< div class = "line" >< a id = "l00554" name = "l00554" ></ a >< span class = "lineno" > 554</ span > pcl::PointCloud< pcl::PointNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00555" name = "l00555" ></ a >< span class = "lineno" > 555</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00556" name = "l00556" ></ a >< span class = "lineno" > 556</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</ div >
< div class = "line" >< a id = "l00557" name = "l00557" ></ a >< span class = "lineno" > 557</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00558" name = "l00558" ></ a >< span class = "lineno" > 558</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & rawCloud,</ div >
< div class = "line" >< a id = "l00559" name = "l00559" ></ a >< span class = "lineno" > 559</ span > < span class = "keyword" > const</ span > std::vector< int> & rawCameraIndices,</ div >
< div class = "line" >< a id = "l00560" name = "l00560" ></ a >< span class = "lineno" > 560</ span > pcl::PointCloud< pcl::PointXYZRGBNormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00561" name = "l00561" ></ a >< span class = "lineno" > 561</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00562" name = "l00562" ></ a >< span class = "lineno" > 562</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</ div >
< div class = "line" >< a id = "l00563" name = "l00563" ></ a >< span class = "lineno" > 563</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00564" name = "l00564" ></ a >< span class = "lineno" > 564</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pcl::PointXYZ> ::Ptr & rawCloud,</ div >
< div class = "line" >< a id = "l00565" name = "l00565" ></ a >< span class = "lineno" > 565</ span > < span class = "keyword" > const</ span > std::vector< int> & rawCameraIndices,</ div >
< div class = "line" >< a id = "l00566" name = "l00566" ></ a >< span class = "lineno" > 566</ span > pcl::PointCloud< pcl::PointXYZINormal> ::Ptr & cloud,</ div >
< div class = "line" >< a id = "l00567" name = "l00567" ></ a >< span class = "lineno" > 567</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
< div class = "line" >< a id = "l00568" name = "l00568" ></ a >< span class = "lineno" > 568</ span > </ div >
< div class = "line" >< a id = "l00569" name = "l00569" ></ a >< span class = "lineno" > 569</ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</ div >
< div class = "line" >< a id = "l00570" name = "l00570" ></ a >< span class = "lineno" > 570</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & viewpoints,</ div >
< div class = "line" >< a id = "l00571" name = "l00571" ></ a >< span class = "lineno" > 571</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & rawScan,</ div >
< div class = "line" >< a id = "l00572" name = "l00572" ></ a >< span class = "lineno" > 572</ span > < span class = "keyword" > const</ span > std::vector< int> & viewpointIds,</ div >
< div class = "line" >< a id = "l00573" name = "l00573" ></ a >< span class = "lineno" > 573</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan,</ div >
< div class = "line" >< a id = "l00574" name = "l00574" ></ a >< span class = "lineno" > 574</ span > < span class = "keywordtype" > float</ span > groundNormalsUp = 0.0f);</ div >
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< div class = "line" >< a id = "l00575" name = "l00575" ></ a >< span class = "lineno" > 575</ span > </ div >
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< div class = "line" >< a id = "l00576" name = "l00576" ></ a >< span class = "lineno" > 576</ span > pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT meshDecimation(< span class = "keyword" > const</ span > pcl::PolygonMesh::Ptr & mesh, < span class = "keywordtype" > float</ span > factor);</ div >
< div class = "line" >< a id = "l00577" name = "l00577" ></ a >< span class = "lineno" > 577</ span > </ div >
< div class = "line" >< a id = "l00578" name = "l00578" ></ a >< span class = "lineno" > 578</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > po< span class = "keywordtype" > int</ span > T> </ div >
< div class = "line" >< a id = "l00579" name = "l00579" ></ a >< span class = "lineno" > 579</ span > std::vector< pcl::Vertices> normalizePolygonsSide(</ div >
< div class = "line" >< a id = "l00580" name = "l00580" ></ a >< span class = "lineno" > 580</ span > < span class = "keyword" > const</ span > pcl::PointCloud< pointT> & cloud,</ div >
< div class = "line" >< a id = "l00581" name = "l00581" ></ a >< span class = "lineno" > 581</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00582" name = "l00582" ></ a >< span class = "lineno" > 582</ span > < span class = "keyword" > const</ span > pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));</ div >
< div class = "line" >< a id = "l00583" name = "l00583" ></ a >< span class = "lineno" > 583</ span > </ div >
< div class = "line" >< a id = "l00584" name = "l00584" ></ a >< span class = "lineno" > 584</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > po< span class = "keywordtype" > int</ span > RGBT> </ div >
< div class = "line" >< a id = "l00585" name = "l00585" ></ a >< span class = "lineno" > 585</ span >< span class = "keywordtype" > void</ span > denseMeshPostProcessing(</ div >
< div class = "line" >< a id = "l00586" name = "l00586" ></ a >< span class = "lineno" > 586</ span > pcl::PolygonMeshPtr & mesh,</ div >
< div class = "line" >< a id = "l00587" name = "l00587" ></ a >< span class = "lineno" > 587</ span > < span class = "keywordtype" > float</ span > meshDecimationFactor = 0.0f, < span class = "comment" > // value between 0 and 1, 0=disabled</ span ></ div >
< div class = "line" >< a id = "l00588" name = "l00588" ></ a >< span class = "lineno" > 588</ span > < span class = "keywordtype" > int</ span > maximumPolygons = 0, < span class = "comment" > // 0=disabled</ span ></ div >
< div class = "line" >< a id = "l00589" name = "l00589" ></ a >< span class = "lineno" > 589</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< pointRGBT> ::Ptr & cloud = pcl::PointCloud< pointRGBT> ::Ptr(), < span class = "comment" > // A RGB point cloud used to transfer colors back to mesh (needed for parameters below)</ span ></ div >
< div class = "line" >< a id = "l00590" name = "l00590" ></ a >< span class = "lineno" > 590</ span > < span class = "keywordtype" > float</ span > transferColorRadius = 0.05f, < span class = "comment" > // < 0=disabled, 0=nearest color</ span ></ div >
< div class = "line" >< a id = "l00591" name = "l00591" ></ a >< span class = "lineno" > 591</ span > < span class = "keywordtype" > bool</ span > coloredOutput = < span class = "keyword" > true</ span > , < span class = "comment" > // Not used anymore, output is colored if transferColorRadius> =0</ span ></ div >
< div class = "line" >< a id = "l00592" name = "l00592" ></ a >< span class = "lineno" > 592</ span > < span class = "keywordtype" > bool</ span > cleanMesh = < span class = "keyword" > true</ span > , < span class = "comment" > // Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)</ span ></ div >
< div class = "line" >< a id = "l00593" name = "l00593" ></ a >< span class = "lineno" > 593</ span > < span class = "keywordtype" > int</ span > minClusterSize = 50, < span class = "comment" > // Remove small polygon clusters after the mesh has been cleaned (0=disabled)</ span ></ div >
< div class = "line" >< a id = "l00594" name = "l00594" ></ a >< span class = "lineno" > 594</ span > < a class = "code hl_class" href = "classrtabmap_1_1ProgressState.html" > ProgressState</ a > * progressState = 0);</ div >
< div class = "line" >< a id = "l00595" name = "l00595" ></ a >< span class = "lineno" > 595</ span > </ div >
< div class = "line" >< a id = "l00618" name = "l00618" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc" > 618</ a ></ span >< span class = "keywordtype" > bool</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc" > intersectRayTriangle</ a > (</ div >
< div class = "line" >< a id = "l00619" name = "l00619" ></ a >< span class = "lineno" > 619</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & p,</ div >
< div class = "line" >< a id = "l00620" name = "l00620" ></ a >< span class = "lineno" > 620</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & dir,</ div >
< div class = "line" >< a id = "l00621" name = "l00621" ></ a >< span class = "lineno" > 621</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & v0,</ div >
< div class = "line" >< a id = "l00622" name = "l00622" ></ a >< span class = "lineno" > 622</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & v1,</ div >
< div class = "line" >< a id = "l00623" name = "l00623" ></ a >< span class = "lineno" > 623</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & v2,</ div >
< div class = "line" >< a id = "l00624" name = "l00624" ></ a >< span class = "lineno" > 624</ span > < span class = "keywordtype" > float</ span > & distance,</ div >
< div class = "line" >< a id = "l00625" name = "l00625" ></ a >< span class = "lineno" > 625</ span > Eigen::Vector3f & normal);</ div >
< div class = "line" >< a id = "l00626" name = "l00626" ></ a >< span class = "lineno" > 626</ span > </ div >
< div class = "line" >< a id = "l00627" name = "l00627" ></ a >< span class = "lineno" > 627</ span >< span class = "keyword" > template</ span > < < span class = "keyword" > typename</ span > Po< span class = "keywordtype" > int</ span > T> </ div >
< div class = "line" >< a id = "l00628" name = "l00628" ></ a >< span class = "lineno" > 628</ span >< span class = "keywordtype" > bool</ span > intersectRayMesh(</ div >
< div class = "line" >< a id = "l00629" name = "l00629" ></ a >< span class = "lineno" > 629</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & origin,</ div >
< div class = "line" >< a id = "l00630" name = "l00630" ></ a >< span class = "lineno" > 630</ span > < span class = "keyword" > const</ span > Eigen::Vector3f & dir,</ div >
< div class = "line" >< a id = "l00631" name = "l00631" ></ a >< span class = "lineno" > 631</ span > < span class = "keyword" > const</ span > < span class = "keyword" > typename</ span > pcl::PointCloud< PointT> & cloud,</ div >
< div class = "line" >< a id = "l00632" name = "l00632" ></ a >< span class = "lineno" > 632</ span > < span class = "keyword" > const</ span > std::vector< pcl::Vertices> & polygons,</ div >
< div class = "line" >< a id = "l00633" name = "l00633" ></ a >< span class = "lineno" > 633</ span > < span class = "keywordtype" > bool</ span > ignoreBackFaces,</ div >
< div class = "line" >< a id = "l00634" name = "l00634" ></ a >< span class = "lineno" > 634</ span > < span class = "keywordtype" > float</ span > & distance,</ div >
< div class = "line" >< a id = "l00635" name = "l00635" ></ a >< span class = "lineno" > 635</ span > Eigen::Vector3f & normal,</ div >
< div class = "line" >< a id = "l00636" name = "l00636" ></ a >< span class = "lineno" > 636</ span > < span class = "keywordtype" > int</ span > & index);</ div >
< div class = "line" >< a id = "l00637" name = "l00637" ></ a >< span class = "lineno" > 637</ span > </ div >
< div class = "line" >< a id = "l00638" name = "l00638" ></ a >< span class = "lineno" > 638</ span >< span class = "keywordtype" > int</ span > RTABMAP_CORE_EXPORT saveOBJFile(</ div >
< div class = "line" >< a id = "l00639" name = "l00639" ></ a >< span class = "lineno" > 639</ span > < span class = "keyword" > const</ span > std::string & file_name,</ div >
< div class = "line" >< a id = "l00640" name = "l00640" ></ a >< span class = "lineno" > 640</ span > < span class = "keyword" > const</ span > pcl::TextureMesh & tex_mesh,</ div >
< div class = "line" >< a id = "l00641" name = "l00641" ></ a >< span class = "lineno" > 641</ span > < span class = "keywordtype" > unsigned</ span > precision = 5);</ div >
< div class = "line" >< a id = "l00642" name = "l00642" ></ a >< span class = "lineno" > 642</ span > </ div >
< div class = "line" >< a id = "l00643" name = "l00643" ></ a >< span class = "lineno" > 643</ span >< span class = "keywordtype" > int</ span > RTABMAP_CORE_EXPORT saveOBJFile(</ div >
< div class = "line" >< a id = "l00644" name = "l00644" ></ a >< span class = "lineno" > 644</ span > < span class = "keyword" > const</ span > std::string & file_name,</ div >
< div class = "line" >< a id = "l00645" name = "l00645" ></ a >< span class = "lineno" > 645</ span > < span class = "keyword" > const</ span > pcl::PolygonMesh & mesh,</ div >
< div class = "line" >< a id = "l00646" name = "l00646" ></ a >< span class = "lineno" > 646</ span > < span class = "keywordtype" > unsigned</ span > precision = 5);</ div >
< div class = "line" >< a id = "l00647" name = "l00647" ></ a >< span class = "lineno" > 647</ span > </ div >
< div class = "line" >< a id = "l00648" name = "l00648" ></ a >< span class = "lineno" > 648</ span > } < span class = "comment" > // namespace util3d</ span ></ div >
< div class = "line" >< a id = "l00649" name = "l00649" ></ a >< span class = "lineno" > 649</ span > } < span class = "comment" > // namespace rtabmap</ span ></ div >
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< div class = "line" >< a id = "l00650" name = "l00650" ></ a >< span class = "lineno" > 650</ span > </ div >
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< div class = "line" >< a id = "l00651" name = "l00651" ></ a >< span class = "lineno" > 651</ span >< span class = "preprocessor" > #include " rtabmap/core/impl/util3d_surface.hpp" </ span ></ div >
< div class = "line" >< a id = "l00652" name = "l00652" ></ a >< span class = "lineno" > 652</ span > </ div >
< div class = "line" >< a id = "l00653" name = "l00653" ></ a >< span class = "lineno" > 653</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* UTIL3D_SURFACE_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html" > rtabmap::DBDriver</ a ></ div >< div class = "ttdoc" > Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriver_8h_source.html#l00071" > DBDriver.h:72</ 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_1Memory_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Memory.html" > rtabmap::Memory</ a ></ div >< div class = "ttdoc" > Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Memory_8h_source.html#l00101" > Memory.h:102</ 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_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__ComputeNormalsComplexity_html_ga3724a082502fbef6222c11843ca56b58" >< div class = "ttname" >< a href = "group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58" > rtabmap::util3d::computeNormalsComplexity</ a ></ div >< div class = "ttdeci" > float RTABMAP_CORE_EXPORT computeNormalsComplexity(const LaserScan & scan, const Transform & t=Transform::getIdentity(), cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)</ div >< div class = "ttdoc" > Computes the complexity of surface normals in a point cloud of type LaserScan.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a07466d3f99ac7f763ba476f65c99ebb0" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0" > rtabmap::util3d::cleanTextureMesh</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT cleanTextureMesh(pcl::TextureMesh & textureMesh, int minClusterSize)</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_a9ebe11bdf534e3bdbcb2802d5dd70e62" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62" > rtabmap::util3d::createPolygonIndexes</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > & polygons, int cloudSize, std::vector< std::set< int > > & neighborPolygons, std::vector< std::set< int > > & vertexPolygons)</ div >< div class = "ttdoc" > Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_ab138227ab6c0511088e846b2276e7afc" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc" > rtabmap::util3d::intersectRayTriangle</ a ></ div >< div class = "ttdeci" > bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f & p, const Eigen::Vector3f & dir, const Eigen::Vector3f & v0, const Eigen::Vector3f & v1, const Eigen::Vector3f & v2, float & distance, Eigen::Vector3f & normal)</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1util3d_html_aeec8dd0024231c36c089340895609238" >< div class = "ttname" >< a href = "namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238" > rtabmap::util3d::mergeTextures</ a ></ div >< div class = "ttdeci" > cv::Mat RTABMAP_CORE_EXPORT mergeTextures(pcl::TextureMesh & mesh, const std::map< int, cv::Mat > & images, const std::map< int, CameraModel > & calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > & vertexToPixels=std::vector< std::map< int, pcl::PointXY > > (), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, bool clearVertexColorUnderTexture=true, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0)</ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
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