From 10cf5121e8b6f4232201722c6a225b656a1b3a25 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Sun, 2 Aug 2026 19:31:32 +0000 Subject: [PATCH] Preview for PR #1492 70fb9ee1150bbecd85c9c047328ff34714575db3 --- .../latest/namespacertabmap_1_1util3d.html | 8 +- .../latest/util3d__filtering_8h_source.html | 1550 ++++++++--------- preview/pr-1492/index.html | 2 +- 3 files changed, 780 insertions(+), 780 deletions(-) diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html index 3c9a4eec..377ac92d 100644 --- a/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html @@ -5615,7 +5615,7 @@ With fillToBorder enabled, the current implementation only fills up
  • Range filtering: Removes points outside the specified minimum and maximum range.
  • Voxel grid filtering: Reduces point density using a voxel grid.
  • Normal estimation: Computes surface normals using k-nearest neighbors or radius search.
    • -
  • Normal reorientation: Optionally orients normals upward if this condition is fulfilled: for each normal, if normal.z < -groundNormalsUp and the corresponding point is below viewpoint, it is flipped upward.
    • +
  • Normal reorientation: normals are first flipped to face the view point, then optionally oriented upward if this condition is fulfilled: for each normal, if normal.z < -groundNormalsUp and the corresponding point is below viewpoint, it is flipped upward. The view point is the sensor origin, as the scan is kept in sensor frame (its local transform is not applied), so "below" and "upward" are along the sensor Z axis.

    • The function supports both 2D and 3D scans and adapts behavior based on whether the scan contains RGB or intensity data.

    Depending on the filtering options used, the output point cloud may be dense if the input is organized.

    @@ -5803,7 +5803,7 @@ With fillToBorder enabled, the current implementation only fills up
    Returns
    A downsampled point cloud using voxel grid filtering.
    Deprecated:
    This function is deprecated. Use voxelize() for equivalent behavior.
    -

    Definition at line 357 of file util3d_filtering.h.

    +

    Definition at line 359 of file util3d_filtering.h.

    @@ -5853,7 +5853,7 @@ With fillToBorder enabled, the current implementation only fills up
    Returns
    A downsampled point cloud using voxel grid filtering.
    Deprecated:
    This function is deprecated. Use voxelize() for equivalent behavior.
    -

    Definition at line 375 of file util3d_filtering.h.

    +

    Definition at line 377 of file util3d_filtering.h.

    @@ -5903,7 +5903,7 @@ With fillToBorder enabled, the current implementation only fills up
    Returns
    A downsampled point cloud using voxel grid filtering.
    Deprecated:
    This function is deprecated. Use voxelize() for equivalent behavior.
    -

    Definition at line 393 of file util3d_filtering.h.

    +

    Definition at line 395 of file util3d_filtering.h.

    diff --git a/preview/pr-1492/api/latest/util3d__filtering_8h_source.html b/preview/pr-1492/api/latest/util3d__filtering_8h_source.html index 6e9baa05..234bfe4f 100644 --- a/preview/pr-1492/api/latest/util3d__filtering_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__filtering_8h_source.html @@ -150,783 +150,783 @@ $(document).ready(function(){initNavTree('util3d__filtering_8h_source.html','');
    42namespace util3d
    43{
    44
    -
    77LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    -
    78 const LaserScan & scan,
    -
    79 int downsamplingStep,
    -
    80 float rangeMin = 0.0f,
    -
    81 float rangeMax = 0.0f,
    -
    82 float voxelSize = 0.0f,
    -
    83 int normalK = 0,
    -
    84 float normalRadius = 0.0f,
    -
    85 float groundNormalsUp = 0.0f);
    -
    90RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    -
    91 const LaserScan & scan,
    -
    92 int downsamplingStep,
    -
    93 float rangeMin,
    -
    94 float rangeMax,
    -
    95 float voxelSize,
    -
    96 int normalK,
    -
    97 float normalRadius,
    -
    98 bool forceGroundNormalsUp);
    -
    99
    -
    116LaserScan RTABMAP_CORE_EXPORT rangeFiltering(
    -
    117 const LaserScan & scan,
    -
    118 float rangeMin,
    -
    119 float rangeMax);
    -
    120
    -
    141pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    -
    142 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    143 const pcl::IndicesPtr & indices,
    -
    144 float rangeMin,
    -
    145 float rangeMax);
    -
    147pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    -
    148 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    149 const pcl::IndicesPtr & indices,
    -
    150 float rangeMin,
    -
    151 float rangeMax);
    -
    153pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    -
    154 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    155 const pcl::IndicesPtr & indices,
    -
    156 float rangeMin,
    -
    157 float rangeMax);
    -
    159pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    -
    160 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    161 const pcl::IndicesPtr & indices,
    -
    162 float rangeMin,
    -
    163 float rangeMax);
    -
    186void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    187 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    188 const pcl::IndicesPtr & indices,
    -
    189 float range,
    -
    190 pcl::IndicesPtr & closeIndices,
    -
    191 pcl::IndicesPtr & farIndices);
    -
    193void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    194 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    195 const pcl::IndicesPtr & indices,
    -
    196 float range,
    -
    197 pcl::IndicesPtr & closeIndices,
    -
    198 pcl::IndicesPtr & farIndices);
    -
    200void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    201 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    202 const pcl::IndicesPtr & indices,
    -
    203 float range,
    -
    204 pcl::IndicesPtr & closeIndices,
    -
    205 pcl::IndicesPtr & farIndices);
    -
    207void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    208 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    209 const pcl::IndicesPtr & indices,
    -
    210 float range,
    -
    211 pcl::IndicesPtr & closeIndices,
    -
    212 pcl::IndicesPtr & farIndices);
    -
    237LaserScan RTABMAP_CORE_EXPORT downsample(
    -
    238 const LaserScan & cloud,
    -
    239 int step);
    -
    241pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    242 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    243 int step);
    -
    245pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    246 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    247 int step);
    -
    249pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    250 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    251 int step);
    -
    253pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    254 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    255 int step);
    -
    257pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    258 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    259 int step);
    -
    261pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    262 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    263 int step);
    -
    290pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    291 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    292 const pcl::IndicesPtr & indices,
    -
    293 float voxelSize);
    -
    295pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    296 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    297 const pcl::IndicesPtr & indices,
    -
    298 float voxelSize);
    -
    300pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    301 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    302 const pcl::IndicesPtr & indices,
    -
    303 float voxelSize);
    -
    305pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    306 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    307 const pcl::IndicesPtr & indices,
    -
    308 float voxelSize);
    -
    310pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    311 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    312 const pcl::IndicesPtr & indices,
    -
    313 float voxelSize);
    -
    315pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    316 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    317 const pcl::IndicesPtr & indices,
    -
    318 float voxelSize);
    -
    320pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    321 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    322 float voxelSize);
    -
    324pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    325 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    326 float voxelSize);
    -
    328pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    329 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    330 float voxelSize);
    -
    332pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    333 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    334 float voxelSize);
    -
    336pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    337 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    338 float voxelSize);
    -
    340pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    341 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    342 float voxelSize);
    -
    -
    357inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
    -
    358 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    359 float voxelSize)
    -
    360{
    -
    361 return voxelize(cloud, voxelSize);
    -
    362}
    +
    79LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    +
    80 const LaserScan & scan,
    +
    81 int downsamplingStep,
    +
    82 float rangeMin = 0.0f,
    +
    83 float rangeMax = 0.0f,
    +
    84 float voxelSize = 0.0f,
    +
    85 int normalK = 0,
    +
    86 float normalRadius = 0.0f,
    +
    87 float groundNormalsUp = 0.0f);
    +
    92RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    +
    93 const LaserScan & scan,
    +
    94 int downsamplingStep,
    +
    95 float rangeMin,
    +
    96 float rangeMax,
    +
    97 float voxelSize,
    +
    98 int normalK,
    +
    99 float normalRadius,
    +
    100 bool forceGroundNormalsUp);
    +
    101
    +
    118LaserScan RTABMAP_CORE_EXPORT rangeFiltering(
    +
    119 const LaserScan & scan,
    +
    120 float rangeMin,
    +
    121 float rangeMax);
    +
    122
    +
    143pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    144 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    145 const pcl::IndicesPtr & indices,
    +
    146 float rangeMin,
    +
    147 float rangeMax);
    +
    149pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    150 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    151 const pcl::IndicesPtr & indices,
    +
    152 float rangeMin,
    +
    153 float rangeMax);
    +
    155pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    156 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    157 const pcl::IndicesPtr & indices,
    +
    158 float rangeMin,
    +
    159 float rangeMax);
    +
    161pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    162 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    163 const pcl::IndicesPtr & indices,
    +
    164 float rangeMin,
    +
    165 float rangeMax);
    +
    188void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    189 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    190 const pcl::IndicesPtr & indices,
    +
    191 float range,
    +
    192 pcl::IndicesPtr & closeIndices,
    +
    193 pcl::IndicesPtr & farIndices);
    +
    195void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    196 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    197 const pcl::IndicesPtr & indices,
    +
    198 float range,
    +
    199 pcl::IndicesPtr & closeIndices,
    +
    200 pcl::IndicesPtr & farIndices);
    +
    202void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    203 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    204 const pcl::IndicesPtr & indices,
    +
    205 float range,
    +
    206 pcl::IndicesPtr & closeIndices,
    +
    207 pcl::IndicesPtr & farIndices);
    +
    209void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    210 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    211 const pcl::IndicesPtr & indices,
    +
    212 float range,
    +
    213 pcl::IndicesPtr & closeIndices,
    +
    214 pcl::IndicesPtr & farIndices);
    +
    239LaserScan RTABMAP_CORE_EXPORT downsample(
    +
    240 const LaserScan & cloud,
    +
    241 int step);
    +
    243pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    244 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    245 int step);
    +
    247pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    248 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    249 int step);
    +
    251pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    252 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    253 int step);
    +
    255pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    256 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    257 int step);
    +
    259pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    260 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    261 int step);
    +
    263pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    264 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    265 int step);
    +
    292pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    293 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    294 const pcl::IndicesPtr & indices,
    +
    295 float voxelSize);
    +
    297pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    298 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    299 const pcl::IndicesPtr & indices,
    +
    300 float voxelSize);
    +
    302pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    303 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    304 const pcl::IndicesPtr & indices,
    +
    305 float voxelSize);
    +
    307pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    308 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    309 const pcl::IndicesPtr & indices,
    +
    310 float voxelSize);
    +
    312pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    313 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    314 const pcl::IndicesPtr & indices,
    +
    315 float voxelSize);
    +
    317pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    318 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    319 const pcl::IndicesPtr & indices,
    +
    320 float voxelSize);
    +
    322pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    323 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    324 float voxelSize);
    +
    326pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    327 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    328 float voxelSize);
    +
    330pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    331 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    332 float voxelSize);
    +
    334pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    335 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    336 float voxelSize);
    +
    338pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    339 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    340 float voxelSize);
    +
    342pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    343 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    344 float voxelSize);
    +
    +
    359inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
    +
    360 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    361 float voxelSize)
    +
    362{
    +
    363 return voxelize(cloud, voxelSize);
    +
    364}
    -
    -
    375inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
    -
    376 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    377 float voxelSize)
    -
    378{
    -
    379 return voxelize(cloud, voxelSize);
    -
    380}
    +
    +
    377inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
    +
    378 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    379 float voxelSize)
    +
    380{
    +
    381 return voxelize(cloud, voxelSize);
    +
    382}
    -
    -
    393inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
    -
    394 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    395 float voxelSize)
    -
    396{
    -
    397 return voxelize(cloud, voxelSize);
    -
    398}
    +
    +
    395inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
    +
    396 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    397 float voxelSize)
    +
    398{
    +
    399 return voxelize(cloud, voxelSize);
    +
    400}
    -
    399
    -
    400
    -
    417pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    418 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    419 int samples);
    -
    421pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    422 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    423 int samples);
    -
    425pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    426 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    427 int samples);
    -
    429pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    430 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    431 int samples);
    -
    433pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    434 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    435 int samples);
    -
    437pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    438 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    439 int samples);
    -
    466pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    467 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    468 const pcl::IndicesPtr & indices,
    -
    469 const std::string & axis,
    -
    470 float min,
    -
    471 float max,
    -
    472 bool negative = false);
    -
    474pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    475 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    476 const pcl::IndicesPtr & indices,
    -
    477 const std::string & axis,
    -
    478 float min,
    -
    479 float max,
    -
    480 bool negative = false);
    -
    482pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    483 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    484 const pcl::IndicesPtr & indices,
    -
    485 const std::string & axis,
    -
    486 float min,
    -
    487 float max,
    -
    488 bool negative = false);
    -
    490pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    491 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    492 const pcl::IndicesPtr & indices,
    -
    493 const std::string & axis,
    -
    494 float min,
    -
    495 float max,
    -
    496 bool negative = false);
    -
    498pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    499 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    500 const pcl::IndicesPtr & indices,
    -
    501 const std::string & axis,
    -
    502 float min,
    -
    503 float max,
    -
    504 bool negative = false);
    -
    506pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    507 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    508 const pcl::IndicesPtr & indices,
    -
    509 const std::string & axis,
    -
    510 float min,
    -
    511 float max,
    -
    512 bool negative = false);
    -
    514pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    515 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    516 const std::string & axis,
    -
    517 float min,
    -
    518 float max,
    -
    519 bool negative = false);
    -
    521pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    522 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    523 const std::string & axis,
    -
    524 float min,
    -
    525 float max,
    -
    526 bool negative = false);
    -
    528pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    529 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    530 const std::string & axis,
    -
    531 float min,
    -
    532 float max,
    -
    533 bool negative = false);
    -
    535pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    536 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    537 const std::string & axis,
    -
    538 float min,
    -
    539 float max,
    -
    540 bool negative = false);
    -
    542pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    543 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    544 const std::string & axis,
    -
    545 float min,
    -
    546 float max,
    -
    547 bool negative = false);
    -
    549pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    550 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    551 const std::string & axis,
    -
    552 float min,
    -
    553 float max,
    -
    554 bool negative = false);
    -
    580pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    581 const pcl::PCLPointCloud2::Ptr & cloud,
    -
    582 const pcl::IndicesPtr & indices,
    -
    583 const Eigen::Vector4f & min,
    -
    584 const Eigen::Vector4f & max,
    -
    585 const Transform & transform = Transform::getIdentity(),
    -
    586 bool negative = false);
    -
    588pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    589 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    590 const pcl::IndicesPtr & indices,
    -
    591 const Eigen::Vector4f & min,
    -
    592 const Eigen::Vector4f & max,
    -
    593 const Transform & transform = Transform::getIdentity(),
    -
    594 bool negative = false);
    -
    596pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    597 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    598 const pcl::IndicesPtr & indices,
    -
    599 const Eigen::Vector4f & min,
    -
    600 const Eigen::Vector4f & max,
    -
    601 const Transform & transform = Transform::getIdentity(),
    -
    602 bool negative = false);
    -
    604pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    605 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    606 const pcl::IndicesPtr & indices,
    -
    607 const Eigen::Vector4f & min,
    -
    608 const Eigen::Vector4f & max,
    -
    609 const Transform & transform = Transform::getIdentity(),
    -
    610 bool negative = false);
    -
    612pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    613 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    614 const pcl::IndicesPtr & indices,
    -
    615 const Eigen::Vector4f & min,
    -
    616 const Eigen::Vector4f & max,
    -
    617 const Transform & transform = Transform::getIdentity(),
    -
    618 bool negative = false);
    -
    620pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    621 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    622 const pcl::IndicesPtr & indices,
    -
    623 const Eigen::Vector4f & min,
    -
    624 const Eigen::Vector4f & max,
    -
    625 const Transform & transform = Transform::getIdentity(),
    -
    626 bool negative = false);
    -
    628pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    629 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    630 const pcl::IndicesPtr & indices,
    -
    631 const Eigen::Vector4f & min,
    -
    632 const Eigen::Vector4f & max,
    -
    633 const Transform & transform = Transform::getIdentity(),
    -
    634 bool negative = false);
    -
    636pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    637 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    638 const Eigen::Vector4f & min,
    -
    639 const Eigen::Vector4f & max,
    -
    640 const Transform & transform = Transform::getIdentity(),
    -
    641 bool negative = false);
    -
    643pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    644 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    645 const Eigen::Vector4f & min,
    -
    646 const Eigen::Vector4f & max,
    -
    647 const Transform & transform = Transform::getIdentity(),
    -
    648 bool negative = false);
    -
    650pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    651 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    652 const Eigen::Vector4f & min,
    -
    653 const Eigen::Vector4f & max,
    -
    654 const Transform & transform = Transform::getIdentity(),
    -
    655 bool negative = false);
    -
    657pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    658 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    659 const Eigen::Vector4f & min,
    -
    660 const Eigen::Vector4f & max,
    -
    661 const Transform & transform = Transform::getIdentity(),
    -
    662 bool negative = false);
    -
    664pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    665 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    666 const Eigen::Vector4f & min,
    -
    667 const Eigen::Vector4f & max,
    -
    668 const Transform & transform = Transform::getIdentity(),
    -
    669 bool negative = false);
    -
    671pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    672 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    673 const Eigen::Vector4f & min,
    -
    674 const Eigen::Vector4f & max,
    -
    675 const Transform & transform = Transform::getIdentity(),
    -
    676 bool negative = false);
    -
    711pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering(
    -
    712 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    713 const pcl::IndicesPtr & indices,
    -
    714 const Transform & cameraPose,
    -
    715 float horizontalFOV,
    -
    716 float verticalFOV,
    -
    717 float nearClipPlaneDistance,
    -
    718 float farClipPlaneDistance,
    -
    719 bool negative = false);
    -
    721pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    -
    722 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    723 const Transform & cameraPose,
    -
    724 float horizontalFOV,
    -
    725 float verticalFOV,
    -
    726 float nearClipPlaneDistance,
    -
    727 float farClipPlaneDistance,
    -
    728 bool negative = false);
    -
    730pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    -
    731 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    732 const Transform & cameraPose,
    -
    733 float horizontalFOV,
    -
    734 float verticalFOV,
    -
    735 float nearClipPlaneDistance,
    -
    736 float farClipPlaneDistance,
    -
    737 bool negative = false);
    -
    757pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    758 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
    -
    760pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    761 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
    -
    763pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    764 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud);
    -
    766pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    767 const pcl::PCLPointCloud2::Ptr & cloud);
    -
    785pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    -
    786 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
    -
    788pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    -
    789 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
    -
    791pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    -
    792 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
    -
    819pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    820 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    821 float radiusSearch,
    -
    822 int minNeighborsInRadius);
    -
    824pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    825 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    826 float radiusSearch,
    -
    827 int minNeighborsInRadius);
    -
    829pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    830 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    831 float radiusSearch,
    -
    832 int minNeighborsInRadius);
    -
    834pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    835 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    836 float radiusSearch,
    -
    837 int minNeighborsInRadius);
    -
    839pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    840 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    841 float radiusSearch,
    -
    842 int minNeighborsInRadius);
    -
    844pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    845 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    846 float radiusSearch,
    -
    847 int minNeighborsInRadius);
    -
    849pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    850 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    851 const pcl::IndicesPtr & indices,
    -
    852 float radiusSearch,
    -
    853 int minNeighborsInRadius);
    -
    855pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    856 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    857 const pcl::IndicesPtr & indices,
    -
    858 float radiusSearch,
    -
    859 int minNeighborsInRadius);
    -
    861pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    862 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    863 const pcl::IndicesPtr & indices,
    -
    864 float radiusSearch,
    -
    865 int minNeighborsInRadius);
    -
    867pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    868 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    869 const pcl::IndicesPtr & indices,
    -
    870 float radiusSearch,
    -
    871 int minNeighborsInRadius);
    -
    873pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    874 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    875 const pcl::IndicesPtr & indices,
    -
    876 float radiusSearch,
    -
    877 int minNeighborsInRadius);
    -
    879pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    880 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    881 const pcl::IndicesPtr & indices,
    -
    882 float radiusSearch,
    -
    883 int minNeighborsInRadius);
    -
    924pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    925 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    926 const std::vector<int> & viewpointIndices,
    -
    927 const std::map<int, Transform> & viewpoints,
    -
    928 float factor=0.01f,
    -
    929 float neighborScale=2.0f);
    -
    931pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    932 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    933 const std::vector<int> & viewpointIndices,
    -
    934 const std::map<int, Transform> & viewpoints,
    -
    935 float factor=0.01f,
    -
    936 float neighborScale=2.0f);
    -
    938pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    939 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    940 const std::vector<int> & viewpointIndices,
    -
    941 const std::map<int, Transform> & viewpoints,
    -
    942 float factor=0.01f,
    -
    943 float neighborScale=2.0f);
    -
    945pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    946 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    947 const std::vector<int> & viewpointIndices,
    -
    948 const std::map<int, Transform> & viewpoints,
    -
    949 float factor=0.01f,
    -
    950 float neighborScale=2.0f);
    -
    952pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    953 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    954 const std::vector<int> & viewpointIndices,
    -
    955 const std::map<int, Transform> & viewpoints,
    -
    956 float factor=0.01f,
    -
    957 float neighborScale=2.0f);
    -
    959pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    960 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    961 const std::vector<int> & viewpointIndices,
    -
    962 const std::map<int, Transform> & viewpoints,
    -
    963 float factor=0.01f,
    -
    964 float neighborScale=2.0f);
    -
    965
    -
    967pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    968 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    969 const pcl::IndicesPtr & indices,
    -
    970 const std::vector<int> & viewpointIndices,
    -
    971 const std::map<int, Transform> & viewpoints,
    -
    972 float factor=0.01f,
    -
    973 float neighborScale=2.0f);
    -
    975pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    976 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    977 const pcl::IndicesPtr & indices,
    -
    978 const std::vector<int> & viewpointIndices,
    -
    979 const std::map<int, Transform> & viewpoints,
    -
    980 float factor=0.01f,
    -
    981 float neighborScale=2.0f);
    -
    983pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    984 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    985 const pcl::IndicesPtr & indices,
    -
    986 const std::vector<int> & viewpointIndices,
    -
    987 const std::map<int, Transform> & viewpoints,
    -
    988 float factor=0.01f,
    -
    989 float neighborScale=2.0f);
    -
    991pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    992 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    993 const pcl::IndicesPtr & indices,
    -
    994 const std::vector<int> & viewpointIndices,
    -
    995 const std::map<int, Transform> & viewpoints,
    -
    996 float factor=0.01f,
    -
    997 float neighborScale=2.0f);
    -
    999pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1000 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1001 const pcl::IndicesPtr & indices,
    -
    1002 const std::vector<int> & viewpointIndices,
    -
    1003 const std::map<int, Transform> & viewpoints,
    -
    1004 float factor=0.01f,
    -
    1005 float neighborScale=2.0f);
    -
    1007pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1008 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1009 const pcl::IndicesPtr & indices,
    -
    1010 const std::vector<int> & viewpointIndices,
    -
    1011 const std::map<int, Transform> & viewpoints,
    -
    1012 float factor=0.01f,
    -
    1013 float neighborScale=2.0f);
    -
    1038pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1039 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1040 const pcl::IndicesPtr & indices,
    -
    1041 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    -
    1042 const pcl::IndicesPtr & subtractIndices,
    -
    1043 float radiusSearch,
    -
    1044 int minNeighborsInRadius = 1);
    -
    1046pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1047 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1048 const pcl::IndicesPtr & indices,
    -
    1049 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    -
    1050 const pcl::IndicesPtr & subtractIndices,
    -
    1051 float radiusSearch,
    -
    1052 int minNeighborsInRadius = 1);
    -
    1054pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1055 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1056 const pcl::IndicesPtr & indices,
    -
    1057 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    -
    1058 const pcl::IndicesPtr & subtractIndices,
    -
    1059 float radiusSearch,
    -
    1060 float maxAngle = M_PI/4.0f,
    -
    1061 int minNeighborsInRadius = 1);
    -
    1063pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1064 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1065 const pcl::IndicesPtr & indices,
    -
    1066 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    -
    1067 const pcl::IndicesPtr & subtractIndices,
    -
    1068 float radiusSearch,
    -
    1069 float maxAngle = M_PI/4.0f,
    -
    1070 int minNeighborsInRadius = 1);
    -
    1072pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1073 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1074 const pcl::IndicesPtr & indices,
    -
    1075 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    -
    1076 const pcl::IndicesPtr & subtractIndices,
    -
    1077 float radiusSearch,
    -
    1078 float maxAngle = M_PI/4.0f,
    -
    1079 int minNeighborsInRadius = 1);
    -
    1081pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1082 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1083 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    -
    1084 float radiusSearch,
    -
    1085 int minNeighborsInRadius = 1);
    -
    1087pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1088 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1089 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    -
    1090 float radiusSearch,
    -
    1091 int minNeighborsInRadius = 1);
    -
    1093pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1094 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1095 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    -
    1096 float radiusSearch,
    -
    1097 float maxAngle = M_PI/4.0f,
    -
    1098 int minNeighborsInRadius = 1);
    -
    1100pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1101 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1102 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    -
    1103 float radiusSearch,
    -
    1104 float maxAngle = M_PI/4.0f,
    -
    1105 int minNeighborsInRadius = 1);
    -
    1107pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1108 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1109 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    -
    1110 float radiusSearch,
    -
    1111 float maxAngle = M_PI/4.0f,
    -
    1112 int minNeighborsInRadius = 1);
    -
    1136pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    -
    1137 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1138 const pcl::IndicesPtr & indices,
    -
    1139 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    -
    1140 const pcl::IndicesPtr & subtractIndices,
    -
    1141 float radiusSearchRatio = 0.01,
    -
    1142 int minNeighborsInRadius = 1,
    -
    1143 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    -
    1144
    -
    1172pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    -
    1173 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1174 const pcl::IndicesPtr & indices,
    -
    1175 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    -
    1176 const pcl::IndicesPtr & subtractIndices,
    -
    1177 float radiusSearchRatio = 0.01,
    -
    1178 float maxAngle = M_PI/4.0f,
    -
    1179 int minNeighborsInRadius = 1,
    -
    1180 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    -
    1181
    -
    1182
    -
    1213pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1214 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1215 float angleMax,
    -
    1216 const Eigen::Vector4f & normal,
    -
    1217 int normalKSearch,
    -
    1218 const Eigen::Vector4f & viewpoint,
    -
    1219 float groundNormalsUp = 0.0f);
    -
    1221pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1222 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1223 float angleMax,
    -
    1224 const Eigen::Vector4f & normal,
    -
    1225 int normalKSearch,
    -
    1226 const Eigen::Vector4f & viewpoint,
    -
    1227 float groundNormalsUp = 0.0f);
    -
    1229pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1230 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1231 const pcl::IndicesPtr & indices,
    -
    1232 float angleMax,
    -
    1233 const Eigen::Vector4f & normal,
    -
    1234 int normalKSearch,
    -
    1235 const Eigen::Vector4f & viewpoint,
    -
    1236 float groundNormalsUp = 0.0f);
    -
    1238pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1239 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1240 const pcl::IndicesPtr & indices,
    -
    1241 float angleMax,
    -
    1242 const Eigen::Vector4f & normal,
    -
    1243 int normalKSearch,
    -
    1244 const Eigen::Vector4f & viewpoint,
    -
    1245 float groundNormalsUp = 0.0f);
    -
    1247pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1248 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1249 const pcl::IndicesPtr & indices,
    -
    1250 float angleMax,
    -
    1251 const Eigen::Vector4f & normal,
    -
    1252 int normalKSearch,
    -
    1253 const Eigen::Vector4f & viewpoint,
    -
    1254 float groundNormalsUp = 0.0f);
    -
    1256pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1257 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1258 const pcl::IndicesPtr & indices,
    -
    1259 float angleMax,
    -
    1260 const Eigen::Vector4f & normal,
    -
    1261 int normalKSearch,
    -
    1262 const Eigen::Vector4f & viewpoint,
    -
    1263 float groundNormalsUp = 0.0f);
    -
    1265pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1266 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1267 const pcl::IndicesPtr & indices,
    -
    1268 float angleMax,
    -
    1269 const Eigen::Vector4f & normal,
    -
    1270 int normalKSearch,
    -
    1271 const Eigen::Vector4f & viewpoint,
    -
    1272 float groundNormalsUp = 0.0f);
    -
    1274pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1275 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1276 const pcl::IndicesPtr & indices,
    -
    1277 float angleMax,
    -
    1278 const Eigen::Vector4f & normal,
    -
    1279 int normalKSearch,
    -
    1280 const Eigen::Vector4f & viewpoint,
    -
    1281 float groundNormalsUp = 0.0f);
    -
    1309std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1310 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1311 float clusterTolerance,
    -
    1312 int minClusterSize,
    -
    1313 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1314 int * biggestClusterIndex = 0);
    -
    1316std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1317 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1318 float clusterTolerance,
    -
    1319 int minClusterSize,
    -
    1320 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1321 int * biggestClusterIndex = 0);
    -
    1323std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1324 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1325 const pcl::IndicesPtr & indices,
    -
    1326 float clusterTolerance,
    -
    1327 int minClusterSize,
    -
    1328 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1329 int * biggestClusterIndex = 0);
    -
    1331std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1332 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1333 const pcl::IndicesPtr & indices,
    -
    1334 float clusterTolerance,
    -
    1335 int minClusterSize,
    -
    1336 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1337 int * biggestClusterIndex = 0);
    -
    1339std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1340 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1341 const pcl::IndicesPtr & indices,
    -
    1342 float clusterTolerance,
    -
    1343 int minClusterSize,
    -
    1344 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1345 int * biggestClusterIndex = 0);
    -
    1347std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1348 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1349 const pcl::IndicesPtr & indices,
    -
    1350 float clusterTolerance,
    -
    1351 int minClusterSize,
    -
    1352 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1353 int * biggestClusterIndex = 0);
    -
    1355std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1356 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1357 const pcl::IndicesPtr & indices,
    -
    1358 float clusterTolerance,
    -
    1359 int minClusterSize,
    -
    1360 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1361 int * biggestClusterIndex = 0);
    -
    1363std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1364 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1365 const pcl::IndicesPtr & indices,
    -
    1366 float clusterTolerance,
    -
    1367 int minClusterSize,
    -
    1368 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1369 int * biggestClusterIndex = 0);
    -
    1396pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1397 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1398 const pcl::IndicesPtr & indices,
    -
    1399 bool negative);
    -
    1401pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1402 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1403 const pcl::IndicesPtr & indices,
    -
    1404 bool negative);
    -
    1406pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1407 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1408 const pcl::IndicesPtr & indices,
    -
    1409 bool negative);
    -
    1411pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1412 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1413 const pcl::IndicesPtr & indices,
    -
    1414 bool negative);
    -
    1416pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1417 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1418 const pcl::IndicesPtr & indices,
    -
    1419 bool negative);
    -
    1421pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1422 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1423 const pcl::IndicesPtr & indices,
    -
    1424 bool negative);
    -
    1426pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1427 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1428 const pcl::IndicesPtr & indices,
    -
    1429 bool negative,
    -
    1430 bool keepOrganized);
    -
    1432pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1433 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1434 const pcl::IndicesPtr & indices,
    -
    1435 bool negative,
    -
    1436 bool keepOrganized);
    -
    1438pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1439 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1440 const pcl::IndicesPtr & indices,
    -
    1441 bool negative,
    -
    1442 bool keepOrganized);
    -
    1444pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1445 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1446 const pcl::IndicesPtr & indices,
    -
    1447 bool negative,
    -
    1448 bool keepOrganized);
    -
    1450pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1451 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1452 const pcl::IndicesPtr & indices,
    -
    1453 bool negative,
    -
    1454 bool keepOrganized);
    -
    1477pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    -
    1478 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1479 const pcl::IndicesPtr & indices,
    -
    1480 float distanceThreshold,
    -
    1481 int maxIterations = 100,
    -
    1482 pcl::ModelCoefficients * coefficientsOut = 0);
    -
    1483pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    -
    1484 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1485 float distanceThreshold,
    -
    1486 int maxIterations = 100,
    -
    1487 pcl::ModelCoefficients * coefficientsOut = 0);
    -
    1488
    -
    1489} // namespace util3d
    -
    1490} // namespace rtabmap
    -
    1491
    -
    1492#endif /* UTIL3D_FILTERING_H_ */
    +
    401
    +
    402
    +
    419pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    420 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    421 int samples);
    +
    423pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    424 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    425 int samples);
    +
    427pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    428 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    429 int samples);
    +
    431pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    432 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    433 int samples);
    +
    435pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    436 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    437 int samples);
    +
    439pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    440 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    441 int samples);
    +
    468pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    469 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    470 const pcl::IndicesPtr & indices,
    +
    471 const std::string & axis,
    +
    472 float min,
    +
    473 float max,
    +
    474 bool negative = false);
    +
    476pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    477 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    478 const pcl::IndicesPtr & indices,
    +
    479 const std::string & axis,
    +
    480 float min,
    +
    481 float max,
    +
    482 bool negative = false);
    +
    484pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    485 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    486 const pcl::IndicesPtr & indices,
    +
    487 const std::string & axis,
    +
    488 float min,
    +
    489 float max,
    +
    490 bool negative = false);
    +
    492pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    493 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    494 const pcl::IndicesPtr & indices,
    +
    495 const std::string & axis,
    +
    496 float min,
    +
    497 float max,
    +
    498 bool negative = false);
    +
    500pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    501 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    502 const pcl::IndicesPtr & indices,
    +
    503 const std::string & axis,
    +
    504 float min,
    +
    505 float max,
    +
    506 bool negative = false);
    +
    508pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    509 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    510 const pcl::IndicesPtr & indices,
    +
    511 const std::string & axis,
    +
    512 float min,
    +
    513 float max,
    +
    514 bool negative = false);
    +
    516pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    517 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    518 const std::string & axis,
    +
    519 float min,
    +
    520 float max,
    +
    521 bool negative = false);
    +
    523pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    524 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    525 const std::string & axis,
    +
    526 float min,
    +
    527 float max,
    +
    528 bool negative = false);
    +
    530pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    531 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    532 const std::string & axis,
    +
    533 float min,
    +
    534 float max,
    +
    535 bool negative = false);
    +
    537pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    538 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    539 const std::string & axis,
    +
    540 float min,
    +
    541 float max,
    +
    542 bool negative = false);
    +
    544pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    545 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    546 const std::string & axis,
    +
    547 float min,
    +
    548 float max,
    +
    549 bool negative = false);
    +
    551pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    552 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    553 const std::string & axis,
    +
    554 float min,
    +
    555 float max,
    +
    556 bool negative = false);
    +
    582pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    583 const pcl::PCLPointCloud2::Ptr & cloud,
    +
    584 const pcl::IndicesPtr & indices,
    +
    585 const Eigen::Vector4f & min,
    +
    586 const Eigen::Vector4f & max,
    +
    587 const Transform & transform = Transform::getIdentity(),
    +
    588 bool negative = false);
    +
    590pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    591 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    592 const pcl::IndicesPtr & indices,
    +
    593 const Eigen::Vector4f & min,
    +
    594 const Eigen::Vector4f & max,
    +
    595 const Transform & transform = Transform::getIdentity(),
    +
    596 bool negative = false);
    +
    598pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    599 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    600 const pcl::IndicesPtr & indices,
    +
    601 const Eigen::Vector4f & min,
    +
    602 const Eigen::Vector4f & max,
    +
    603 const Transform & transform = Transform::getIdentity(),
    +
    604 bool negative = false);
    +
    606pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    607 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    608 const pcl::IndicesPtr & indices,
    +
    609 const Eigen::Vector4f & min,
    +
    610 const Eigen::Vector4f & max,
    +
    611 const Transform & transform = Transform::getIdentity(),
    +
    612 bool negative = false);
    +
    614pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    615 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    616 const pcl::IndicesPtr & indices,
    +
    617 const Eigen::Vector4f & min,
    +
    618 const Eigen::Vector4f & max,
    +
    619 const Transform & transform = Transform::getIdentity(),
    +
    620 bool negative = false);
    +
    622pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    623 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    624 const pcl::IndicesPtr & indices,
    +
    625 const Eigen::Vector4f & min,
    +
    626 const Eigen::Vector4f & max,
    +
    627 const Transform & transform = Transform::getIdentity(),
    +
    628 bool negative = false);
    +
    630pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    631 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    632 const pcl::IndicesPtr & indices,
    +
    633 const Eigen::Vector4f & min,
    +
    634 const Eigen::Vector4f & max,
    +
    635 const Transform & transform = Transform::getIdentity(),
    +
    636 bool negative = false);
    +
    638pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    639 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    640 const Eigen::Vector4f & min,
    +
    641 const Eigen::Vector4f & max,
    +
    642 const Transform & transform = Transform::getIdentity(),
    +
    643 bool negative = false);
    +
    645pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    646 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    647 const Eigen::Vector4f & min,
    +
    648 const Eigen::Vector4f & max,
    +
    649 const Transform & transform = Transform::getIdentity(),
    +
    650 bool negative = false);
    +
    652pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    653 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    654 const Eigen::Vector4f & min,
    +
    655 const Eigen::Vector4f & max,
    +
    656 const Transform & transform = Transform::getIdentity(),
    +
    657 bool negative = false);
    +
    659pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    660 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    661 const Eigen::Vector4f & min,
    +
    662 const Eigen::Vector4f & max,
    +
    663 const Transform & transform = Transform::getIdentity(),
    +
    664 bool negative = false);
    +
    666pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    667 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    668 const Eigen::Vector4f & min,
    +
    669 const Eigen::Vector4f & max,
    +
    670 const Transform & transform = Transform::getIdentity(),
    +
    671 bool negative = false);
    +
    673pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    674 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    675 const Eigen::Vector4f & min,
    +
    676 const Eigen::Vector4f & max,
    +
    677 const Transform & transform = Transform::getIdentity(),
    +
    678 bool negative = false);
    +
    713pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering(
    +
    714 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    715 const pcl::IndicesPtr & indices,
    +
    716 const Transform & cameraPose,
    +
    717 float horizontalFOV,
    +
    718 float verticalFOV,
    +
    719 float nearClipPlaneDistance,
    +
    720 float farClipPlaneDistance,
    +
    721 bool negative = false);
    +
    723pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    +
    724 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    725 const Transform & cameraPose,
    +
    726 float horizontalFOV,
    +
    727 float verticalFOV,
    +
    728 float nearClipPlaneDistance,
    +
    729 float farClipPlaneDistance,
    +
    730 bool negative = false);
    +
    732pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    +
    733 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    734 const Transform & cameraPose,
    +
    735 float horizontalFOV,
    +
    736 float verticalFOV,
    +
    737 float nearClipPlaneDistance,
    +
    738 float farClipPlaneDistance,
    +
    739 bool negative = false);
    +
    759pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    760 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
    +
    762pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    763 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
    +
    765pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    766 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud);
    +
    768pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    769 const pcl::PCLPointCloud2::Ptr & cloud);
    +
    787pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    +
    788 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
    +
    790pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    +
    791 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
    +
    793pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    +
    794 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
    +
    821pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    822 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    823 float radiusSearch,
    +
    824 int minNeighborsInRadius);
    +
    826pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    827 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    828 float radiusSearch,
    +
    829 int minNeighborsInRadius);
    +
    831pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    832 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    833 float radiusSearch,
    +
    834 int minNeighborsInRadius);
    +
    836pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    837 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    838 float radiusSearch,
    +
    839 int minNeighborsInRadius);
    +
    841pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    842 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    843 float radiusSearch,
    +
    844 int minNeighborsInRadius);
    +
    846pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    847 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    848 float radiusSearch,
    +
    849 int minNeighborsInRadius);
    +
    851pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    852 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    853 const pcl::IndicesPtr & indices,
    +
    854 float radiusSearch,
    +
    855 int minNeighborsInRadius);
    +
    857pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    858 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    859 const pcl::IndicesPtr & indices,
    +
    860 float radiusSearch,
    +
    861 int minNeighborsInRadius);
    +
    863pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    864 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    865 const pcl::IndicesPtr & indices,
    +
    866 float radiusSearch,
    +
    867 int minNeighborsInRadius);
    +
    869pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    870 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    871 const pcl::IndicesPtr & indices,
    +
    872 float radiusSearch,
    +
    873 int minNeighborsInRadius);
    +
    875pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    876 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    877 const pcl::IndicesPtr & indices,
    +
    878 float radiusSearch,
    +
    879 int minNeighborsInRadius);
    +
    881pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    882 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    883 const pcl::IndicesPtr & indices,
    +
    884 float radiusSearch,
    +
    885 int minNeighborsInRadius);
    +
    926pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    927 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    928 const std::vector<int> & viewpointIndices,
    +
    929 const std::map<int, Transform> & viewpoints,
    +
    930 float factor=0.01f,
    +
    931 float neighborScale=2.0f);
    +
    933pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    934 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    935 const std::vector<int> & viewpointIndices,
    +
    936 const std::map<int, Transform> & viewpoints,
    +
    937 float factor=0.01f,
    +
    938 float neighborScale=2.0f);
    +
    940pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    941 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    942 const std::vector<int> & viewpointIndices,
    +
    943 const std::map<int, Transform> & viewpoints,
    +
    944 float factor=0.01f,
    +
    945 float neighborScale=2.0f);
    +
    947pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    948 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    949 const std::vector<int> & viewpointIndices,
    +
    950 const std::map<int, Transform> & viewpoints,
    +
    951 float factor=0.01f,
    +
    952 float neighborScale=2.0f);
    +
    954pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    955 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    956 const std::vector<int> & viewpointIndices,
    +
    957 const std::map<int, Transform> & viewpoints,
    +
    958 float factor=0.01f,
    +
    959 float neighborScale=2.0f);
    +
    961pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    962 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    963 const std::vector<int> & viewpointIndices,
    +
    964 const std::map<int, Transform> & viewpoints,
    +
    965 float factor=0.01f,
    +
    966 float neighborScale=2.0f);
    +
    967
    +
    969pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    970 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    971 const pcl::IndicesPtr & indices,
    +
    972 const std::vector<int> & viewpointIndices,
    +
    973 const std::map<int, Transform> & viewpoints,
    +
    974 float factor=0.01f,
    +
    975 float neighborScale=2.0f);
    +
    977pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    978 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    979 const pcl::IndicesPtr & indices,
    +
    980 const std::vector<int> & viewpointIndices,
    +
    981 const std::map<int, Transform> & viewpoints,
    +
    982 float factor=0.01f,
    +
    983 float neighborScale=2.0f);
    +
    985pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    986 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    987 const pcl::IndicesPtr & indices,
    +
    988 const std::vector<int> & viewpointIndices,
    +
    989 const std::map<int, Transform> & viewpoints,
    +
    990 float factor=0.01f,
    +
    991 float neighborScale=2.0f);
    +
    993pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    994 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    995 const pcl::IndicesPtr & indices,
    +
    996 const std::vector<int> & viewpointIndices,
    +
    997 const std::map<int, Transform> & viewpoints,
    +
    998 float factor=0.01f,
    +
    999 float neighborScale=2.0f);
    +
    1001pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1002 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1003 const pcl::IndicesPtr & indices,
    +
    1004 const std::vector<int> & viewpointIndices,
    +
    1005 const std::map<int, Transform> & viewpoints,
    +
    1006 float factor=0.01f,
    +
    1007 float neighborScale=2.0f);
    +
    1009pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1010 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1011 const pcl::IndicesPtr & indices,
    +
    1012 const std::vector<int> & viewpointIndices,
    +
    1013 const std::map<int, Transform> & viewpoints,
    +
    1014 float factor=0.01f,
    +
    1015 float neighborScale=2.0f);
    +
    1040pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1041 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1042 const pcl::IndicesPtr & indices,
    +
    1043 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    +
    1044 const pcl::IndicesPtr & subtractIndices,
    +
    1045 float radiusSearch,
    +
    1046 int minNeighborsInRadius = 1);
    +
    1048pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1049 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1050 const pcl::IndicesPtr & indices,
    +
    1051 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    +
    1052 const pcl::IndicesPtr & subtractIndices,
    +
    1053 float radiusSearch,
    +
    1054 int minNeighborsInRadius = 1);
    +
    1056pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1057 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1058 const pcl::IndicesPtr & indices,
    +
    1059 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    +
    1060 const pcl::IndicesPtr & subtractIndices,
    +
    1061 float radiusSearch,
    +
    1062 float maxAngle = M_PI/4.0f,
    +
    1063 int minNeighborsInRadius = 1);
    +
    1065pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1066 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1067 const pcl::IndicesPtr & indices,
    +
    1068 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    +
    1069 const pcl::IndicesPtr & subtractIndices,
    +
    1070 float radiusSearch,
    +
    1071 float maxAngle = M_PI/4.0f,
    +
    1072 int minNeighborsInRadius = 1);
    +
    1074pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1075 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1076 const pcl::IndicesPtr & indices,
    +
    1077 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    +
    1078 const pcl::IndicesPtr & subtractIndices,
    +
    1079 float radiusSearch,
    +
    1080 float maxAngle = M_PI/4.0f,
    +
    1081 int minNeighborsInRadius = 1);
    +
    1083pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1084 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1085 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    +
    1086 float radiusSearch,
    +
    1087 int minNeighborsInRadius = 1);
    +
    1089pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1090 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1091 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    +
    1092 float radiusSearch,
    +
    1093 int minNeighborsInRadius = 1);
    +
    1095pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1096 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1097 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    +
    1098 float radiusSearch,
    +
    1099 float maxAngle = M_PI/4.0f,
    +
    1100 int minNeighborsInRadius = 1);
    +
    1102pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1103 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1104 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    +
    1105 float radiusSearch,
    +
    1106 float maxAngle = M_PI/4.0f,
    +
    1107 int minNeighborsInRadius = 1);
    +
    1109pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1110 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1111 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    +
    1112 float radiusSearch,
    +
    1113 float maxAngle = M_PI/4.0f,
    +
    1114 int minNeighborsInRadius = 1);
    +
    1138pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    +
    1139 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1140 const pcl::IndicesPtr & indices,
    +
    1141 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    +
    1142 const pcl::IndicesPtr & subtractIndices,
    +
    1143 float radiusSearchRatio = 0.01,
    +
    1144 int minNeighborsInRadius = 1,
    +
    1145 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    +
    1146
    +
    1174pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    +
    1175 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1176 const pcl::IndicesPtr & indices,
    +
    1177 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    +
    1178 const pcl::IndicesPtr & subtractIndices,
    +
    1179 float radiusSearchRatio = 0.01,
    +
    1180 float maxAngle = M_PI/4.0f,
    +
    1181 int minNeighborsInRadius = 1,
    +
    1182 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    +
    1183
    +
    1184
    +
    1215pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1216 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1217 float angleMax,
    +
    1218 const Eigen::Vector4f & normal,
    +
    1219 int normalKSearch,
    +
    1220 const Eigen::Vector4f & viewpoint,
    +
    1221 float groundNormalsUp = 0.0f);
    +
    1223pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1224 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1225 float angleMax,
    +
    1226 const Eigen::Vector4f & normal,
    +
    1227 int normalKSearch,
    +
    1228 const Eigen::Vector4f & viewpoint,
    +
    1229 float groundNormalsUp = 0.0f);
    +
    1231pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1232 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1233 const pcl::IndicesPtr & indices,
    +
    1234 float angleMax,
    +
    1235 const Eigen::Vector4f & normal,
    +
    1236 int normalKSearch,
    +
    1237 const Eigen::Vector4f & viewpoint,
    +
    1238 float groundNormalsUp = 0.0f);
    +
    1240pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1241 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1242 const pcl::IndicesPtr & indices,
    +
    1243 float angleMax,
    +
    1244 const Eigen::Vector4f & normal,
    +
    1245 int normalKSearch,
    +
    1246 const Eigen::Vector4f & viewpoint,
    +
    1247 float groundNormalsUp = 0.0f);
    +
    1249pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1250 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1251 const pcl::IndicesPtr & indices,
    +
    1252 float angleMax,
    +
    1253 const Eigen::Vector4f & normal,
    +
    1254 int normalKSearch,
    +
    1255 const Eigen::Vector4f & viewpoint,
    +
    1256 float groundNormalsUp = 0.0f);
    +
    1258pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1259 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1260 const pcl::IndicesPtr & indices,
    +
    1261 float angleMax,
    +
    1262 const Eigen::Vector4f & normal,
    +
    1263 int normalKSearch,
    +
    1264 const Eigen::Vector4f & viewpoint,
    +
    1265 float groundNormalsUp = 0.0f);
    +
    1267pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1268 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1269 const pcl::IndicesPtr & indices,
    +
    1270 float angleMax,
    +
    1271 const Eigen::Vector4f & normal,
    +
    1272 int normalKSearch,
    +
    1273 const Eigen::Vector4f & viewpoint,
    +
    1274 float groundNormalsUp = 0.0f);
    +
    1276pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1277 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1278 const pcl::IndicesPtr & indices,
    +
    1279 float angleMax,
    +
    1280 const Eigen::Vector4f & normal,
    +
    1281 int normalKSearch,
    +
    1282 const Eigen::Vector4f & viewpoint,
    +
    1283 float groundNormalsUp = 0.0f);
    +
    1311std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1312 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1313 float clusterTolerance,
    +
    1314 int minClusterSize,
    +
    1315 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1316 int * biggestClusterIndex = 0);
    +
    1318std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1319 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1320 float clusterTolerance,
    +
    1321 int minClusterSize,
    +
    1322 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1323 int * biggestClusterIndex = 0);
    +
    1325std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1326 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1327 const pcl::IndicesPtr & indices,
    +
    1328 float clusterTolerance,
    +
    1329 int minClusterSize,
    +
    1330 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1331 int * biggestClusterIndex = 0);
    +
    1333std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1334 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1335 const pcl::IndicesPtr & indices,
    +
    1336 float clusterTolerance,
    +
    1337 int minClusterSize,
    +
    1338 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1339 int * biggestClusterIndex = 0);
    +
    1341std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1342 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1343 const pcl::IndicesPtr & indices,
    +
    1344 float clusterTolerance,
    +
    1345 int minClusterSize,
    +
    1346 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1347 int * biggestClusterIndex = 0);
    +
    1349std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1350 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1351 const pcl::IndicesPtr & indices,
    +
    1352 float clusterTolerance,
    +
    1353 int minClusterSize,
    +
    1354 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1355 int * biggestClusterIndex = 0);
    +
    1357std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1358 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1359 const pcl::IndicesPtr & indices,
    +
    1360 float clusterTolerance,
    +
    1361 int minClusterSize,
    +
    1362 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1363 int * biggestClusterIndex = 0);
    +
    1365std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1366 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1367 const pcl::IndicesPtr & indices,
    +
    1368 float clusterTolerance,
    +
    1369 int minClusterSize,
    +
    1370 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1371 int * biggestClusterIndex = 0);
    +
    1398pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1399 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1400 const pcl::IndicesPtr & indices,
    +
    1401 bool negative);
    +
    1403pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1404 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1405 const pcl::IndicesPtr & indices,
    +
    1406 bool negative);
    +
    1408pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1409 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1410 const pcl::IndicesPtr & indices,
    +
    1411 bool negative);
    +
    1413pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1414 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1415 const pcl::IndicesPtr & indices,
    +
    1416 bool negative);
    +
    1418pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1419 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1420 const pcl::IndicesPtr & indices,
    +
    1421 bool negative);
    +
    1423pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1424 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1425 const pcl::IndicesPtr & indices,
    +
    1426 bool negative);
    +
    1428pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1429 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1430 const pcl::IndicesPtr & indices,
    +
    1431 bool negative,
    +
    1432 bool keepOrganized);
    +
    1434pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1435 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1436 const pcl::IndicesPtr & indices,
    +
    1437 bool negative,
    +
    1438 bool keepOrganized);
    +
    1440pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1441 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1442 const pcl::IndicesPtr & indices,
    +
    1443 bool negative,
    +
    1444 bool keepOrganized);
    +
    1446pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1447 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1448 const pcl::IndicesPtr & indices,
    +
    1449 bool negative,
    +
    1450 bool keepOrganized);
    +
    1452pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1453 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1454 const pcl::IndicesPtr & indices,
    +
    1455 bool negative,
    +
    1456 bool keepOrganized);
    +
    1479pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    +
    1480 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1481 const pcl::IndicesPtr & indices,
    +
    1482 float distanceThreshold,
    +
    1483 int maxIterations = 100,
    +
    1484 pcl::ModelCoefficients * coefficientsOut = 0);
    +
    1485pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    +
    1486 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1487 float distanceThreshold,
    +
    1488 int maxIterations = 100,
    +
    1489 pcl::ModelCoefficients * coefficientsOut = 0);
    +
    1490
    +
    1491} // namespace util3d
    +
    1492} // namespace rtabmap
    +
    1493
    +
    1494#endif /* UTIL3D_FILTERING_H_ */
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    @@ -947,7 +947,7 @@ $(document).ready(function(){initNavTree('util3d__filtering_8h_source.html','');
    rtabmap::util3d::voxelize
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
    Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
    rtabmap::util3d::subtractAdaptiveFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearchRatio=0.01, int minNeighborsInRadius=1, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
    Performs adaptive radius-based subtraction filtering on a point cloud.
    rtabmap::util3d::commonFiltering
    LaserScan RTABMAP_CORE_EXPORT commonFiltering(const LaserScan &scan, int downsamplingStep, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalK=0, float normalRadius=0.0f, float groundNormalsUp=0.0f)
    Applies a common set of filters to a LaserScan, including downsampling, range limits,...
    -
    rtabmap::util3d::uniformSampling
    pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
    DEPRECATED: Use voxelize() instead.
    Definition util3d_filtering.h:357
    +
    rtabmap::util3d::uniformSampling
    pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
    DEPRECATED: Use voxelize() instead.
    Definition util3d_filtering.h:359
    rtabmap::util3d::extractPlane
    pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
    Extracts the indices of the inliers that belong to a plane using RANSAC.
    rtabmap::util3d::rangeFiltering
    LaserScan RTABMAP_CORE_EXPORT rangeFiltering(const LaserScan &scan, float rangeMin, float rangeMax)
    Filters a LaserScan data on a minimum and maximum Euclidean range.
    diff --git a/preview/pr-1492/index.html b/preview/pr-1492/index.html index 6b4e0ebe..9b8430c8 100644 --- a/preview/pr-1492/index.html +++ b/preview/pr-1492/index.html @@ -5,7 +5,7 @@ - + RTAB-Map | Real-Time Appearance-Based Mapping