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Preview for PR #1492 70fb9ee1150bbecd85c9c047328ff34714575db3

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2026-08-02 19:31:32 +00:00
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preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html
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<li>Range filtering: Removes points outside the specified minimum and maximum range.</li>
<li>Voxel grid filtering: Reduces point density using a voxel grid.</li>
<li>Normal estimation: Computes surface normals using k-nearest neighbors or radius search.</li>
<li>Normal reorientation: Optionally orients normals upward if this condition is fulfilled: for each normal, if normal.z &lt; <code>-groundNormalsUp</code> and the corresponding point is below viewpoint, it is flipped upward.</li>
<li>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 &lt; <code>-groundNormalsUp</code> 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.</li>
</ul>
<p>The function supports both 2D and 3D scans and adapts behavior based on whether the scan contains RGB or intensity data.</p>
<p>Depending on the filtering options used, the output point cloud may be dense if the input is organized.</p>
@@ -5803,7 +5803,7 @@ With <code>fillToBorder</code> enabled, the current implementation only fills up
<dl class="section return"><dt>Returns</dt><dd>A downsampled point cloud using voxel grid filtering.</dd></dl>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000022">Deprecated:</a></b></dt><dd>This function is deprecated. Use <a class="el" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" title="Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.">voxelize()</a> for equivalent behavior. </dd></dl>
<p class="definition">Definition at line <a class="el" href="util3d__filtering_8h_source.html#l00357">357</a> of file <a class="el" href="util3d__filtering_8h_source.html">util3d_filtering.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="util3d__filtering_8h_source.html#l00359">359</a> of file <a class="el" href="util3d__filtering_8h_source.html">util3d_filtering.h</a>.</p>
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@@ -5853,7 +5853,7 @@ With <code>fillToBorder</code> enabled, the current implementation only fills up
<dl class="section return"><dt>Returns</dt><dd>A downsampled point cloud using voxel grid filtering.</dd></dl>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000023">Deprecated:</a></b></dt><dd>This function is deprecated. Use <a class="el" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" title="Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.">voxelize()</a> for equivalent behavior. </dd></dl>
<p class="definition">Definition at line <a class="el" href="util3d__filtering_8h_source.html#l00375">375</a> of file <a class="el" href="util3d__filtering_8h_source.html">util3d_filtering.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="util3d__filtering_8h_source.html#l00377">377</a> of file <a class="el" href="util3d__filtering_8h_source.html">util3d_filtering.h</a>.</p>
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@@ -5903,7 +5903,7 @@ With <code>fillToBorder</code> enabled, the current implementation only fills up
<dl class="section return"><dt>Returns</dt><dd>A downsampled point cloud using voxel grid filtering.</dd></dl>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000024">Deprecated:</a></b></dt><dd>This function is deprecated. Use <a class="el" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" title="Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.">voxelize()</a> for equivalent behavior. </dd></dl>
<p class="definition">Definition at line <a class="el" href="util3d__filtering_8h_source.html#l00393">393</a> of file <a class="el" href="util3d__filtering_8h_source.html">util3d_filtering.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="util3d__filtering_8h_source.html#l00395">395</a> of file <a class="el" href="util3d__filtering_8h_source.html">util3d_filtering.h</a>.</p>
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preview/pr-1492/api/latest/util3d__filtering_8h_source.html
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preview/pr-1492/index.html
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<link rel="stylesheet" type="text/css" media="screen" href="/rtabmap/preview/pr-1492/assets/css/style.css?v=70fb9ee1150bbecd85c9c047328ff34714575db3">
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<title>RTAB-Map | Real-Time Appearance-Based Mapping</title>