From 126bfaaa285cae3437037fec134d3957b79f72a9 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Sun, 2 Aug 2026 18:14:23 +0000 Subject: [PATCH] Preview for PR #1492 478d74ebb51e815d074c2120d6dfa2e3fd1ec4a8 --- .../latest/group__LaserScanToPointCloud.html | 14 +- .../latest/group__LaserScanToPointCloud.js | 14 +- .../api/latest/namespacemembers_func_l.html | 14 +- .../api/latest/namespacemembers_l.html | 14 +- .../pr-1492/api/latest/namespacertabmap.js | 12 + .../latest/namespacertabmap_1_1util3d.html | 18 +- preview/pr-1492/api/latest/navtreedata.js | 2 +- preview/pr-1492/api/latest/navtreeindex1.js | 14 +- preview/pr-1492/api/latest/navtreeindex10.js | 124 +- preview/pr-1492/api/latest/navtreeindex11.js | 124 +- preview/pr-1492/api/latest/navtreeindex12.js | 126 +- preview/pr-1492/api/latest/navtreeindex13.js | 50 +- preview/pr-1492/api/latest/navtreeindex14.js | 28 +- preview/pr-1492/api/latest/navtreeindex15.js | 180 +- preview/pr-1492/api/latest/navtreeindex2.js | 116 +- preview/pr-1492/api/latest/navtreeindex3.js | 122 +- preview/pr-1492/api/latest/navtreeindex4.js | 116 +- preview/pr-1492/api/latest/navtreeindex5.js | 126 +- preview/pr-1492/api/latest/navtreeindex6.js | 120 +- preview/pr-1492/api/latest/navtreeindex7.js | 122 +- preview/pr-1492/api/latest/navtreeindex8.js | 122 +- preview/pr-1492/api/latest/navtreeindex9.js | 126 +- preview/pr-1492/api/latest/search/all_e.js | 124 +- .../pr-1492/api/latest/search/functions_b.js | 80 +- .../pr-1492/api/latest/util3d_8h_source.html | 342 ++-- .../latest/util3d__filtering_8h_source.html | 1503 ++++++++--------- .../util3d__registration_8h_source.html | 153 +- .../api/latest/util3d__surface_8h_source.html | 365 ++-- .../latest/util3d__transforms_8h_source.html | 138 +- preview/pr-1492/index.html | 2 +- 30 files changed, 2254 insertions(+), 2157 deletions(-) diff --git a/preview/pr-1492/api/latest/group__LaserScanToPointCloud.html b/preview/pr-1492/api/latest/group__LaserScanToPointCloud.html index 64adf09f..81ab7bc7 100644 --- a/preview/pr-1492/api/latest/group__LaserScanToPointCloud.html +++ b/preview/pr-1492/api/latest/group__LaserScanToPointCloud.html @@ -115,45 +115,57 @@ pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT   pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloud (const LaserScan &laserScan, const Transform &transform=Transform()) + LaserScan → PointXYZ (x, y, z); any other field of the scan is dropped.
  pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudNormal (const LaserScan &laserScan, const Transform &transform=Transform()) + LaserScan → PointNormal (x, y, z, nx, ny, nz); normals are zeroed if the scan has none.
  pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudRGB (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100) + LaserScan → PointXYZRGB (x, y, z, rgb); r, g and b are used if the scan has no color.
  pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudI (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f) + LaserScan → PointXYZI (x, y, z, intensity); intensity is used if the scan has none.
  pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100) + LaserScan → PointXYZRGBNormal (x, y, z, rgb, nx, ny, nz); missing color and normals are filled as above.
  pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudINormal (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f) + LaserScan → PointXYZINormal (x, y, z, intensity, nx, ny, nz); missing intensity and normals are filled as above.
  pcl::PointXYZ RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPoint (const LaserScan &laserScan, int index) + The point at index of the scan, as PointXYZ.
  pcl::PointNormal RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointNormal (const LaserScan &laserScan, int index) + The point at index of the scan, as PointNormal.
  pcl::PointXYZRGB RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointRGB (const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100) + The point at index of the scan, as PointXYZRGB.
  pcl::PointXYZI RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointI (const LaserScan &laserScan, int index, float intensity) + The point at index of the scan, as PointXYZI.
  pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointRGBNormal (const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b) + The point at index of the scan, as PointXYZRGBNormal.
  pcl::PointXYZINormal RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointINormal (const LaserScan &laserScan, int index, float intensity) + The point at index of the scan, as PointXYZINormal.
 

Detailed Description

Functions to convert LaserScan data to various PCL point cloud formats.

These functions convert an instance of rtabmap::LaserScan to different PCL point cloud types, optionally applying a spatial transform. Missing data such as RGB and intensity are handled with default values. If the input LaserScan is 2D, as PCL doesn't have standard format that is just 2D, Z will be set to zero. If the input LaserScan doesn't have normals but the output does, the normals are set to zeros.

-

laserScanToPoint() functions convert a single point from the LaserScan at the specificied index.

+

laserScanToPoint() functions convert a single point from the LaserScan at the specificied index.

diff --git a/preview/pr-1492/api/latest/group__LaserScanToPointCloud.js b/preview/pr-1492/api/latest/group__LaserScanToPointCloud.js index f6cbda7c..2089a8de 100644 --- a/preview/pr-1492/api/latest/group__LaserScanToPointCloud.js +++ b/preview/pr-1492/api/latest/group__LaserScanToPointCloud.js @@ -1,4 +1,16 @@ var group__LaserScanToPointCloud = [ - [ "rtabmap::util3d::laserScanToPointCloud2", "group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c", null ] + [ "rtabmap::util3d::laserScanToPointCloud2", "group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c", null ], + [ "rtabmap::util3d::laserScanToPointCloud", "group__LaserScanToPointCloud.html#gac4aef207f79791db5064dc596e25513b", null ], + [ "rtabmap::util3d::laserScanToPointCloudNormal", "group__LaserScanToPointCloud.html#gafe2b6826178bf0af878be67bddf3c9bd", null ], + [ "rtabmap::util3d::laserScanToPointCloudRGB", "group__LaserScanToPointCloud.html#gaee3e6a7ef23f6e5f9a19a0b033d7522c", null ], + [ "rtabmap::util3d::laserScanToPointCloudI", "group__LaserScanToPointCloud.html#ga734628cdc1b15384476dc94d1c3dbb4d", null ], + [ "rtabmap::util3d::laserScanToPointCloudRGBNormal", "group__LaserScanToPointCloud.html#ga741bd010511d5284831012194eab99b9", null ], + [ "rtabmap::util3d::laserScanToPointCloudINormal", "group__LaserScanToPointCloud.html#ga8ee678c27ae59e2bb3fac8aeb55f9d92", null ], + [ "rtabmap::util3d::laserScanToPoint", "group__LaserScanToPointCloud.html#gaeda3b4a673cb96e6421688e6c575e4e5", null ], + [ "rtabmap::util3d::laserScanToPointNormal", "group__LaserScanToPointCloud.html#ga4412f275d60b69f0f62db56321c5991c", null ], + [ "rtabmap::util3d::laserScanToPointRGB", "group__LaserScanToPointCloud.html#gad0183648eae48143b33bfe969f8cbe43", null ], + [ "rtabmap::util3d::laserScanToPointI", "group__LaserScanToPointCloud.html#ga03b1c3a49aba08fcbc01b5991f25d0cc", null ], + [ "rtabmap::util3d::laserScanToPointRGBNormal", "group__LaserScanToPointCloud.html#ga675b84c6a6edde91883e38f49c087f31", null ], + [ "rtabmap::util3d::laserScanToPointINormal", "group__LaserScanToPointCloud.html#gab69062f7ffd0f2192983c6d7afa4a171", null ] ]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/namespacemembers_func_l.html b/preview/pr-1492/api/latest/namespacemembers_func_l.html index 89d285b5..132e38bc 100644 --- a/preview/pr-1492/api/latest/namespacemembers_func_l.html +++ b/preview/pr-1492/api/latest/namespacemembers_func_l.html @@ -104,8 +104,20 @@ $(document).ready(function(){initNavTree('namespacemembers_func_l.html',''); ini
  • laserScan2dFromPointCloud() : rtabmap::util3d
  • laserScanFromDepthImage() : rtabmap::util3d
  • laserScanFromDepthImages() : rtabmap::util3d
    • -
  • laserScanFromPointCloud() : rtabmap::util3d
    • +
  • laserScanFromPointCloud() : rtabmap::util3d
    • +
  • laserScanToPoint() : rtabmap::util3d
    • +
  • laserScanToPointCloud() : rtabmap::util3d
  • laserScanToPointCloud2() : rtabmap::util3d
    • +
  • laserScanToPointCloudI() : rtabmap::util3d
    • +
  • laserScanToPointCloudINormal() : rtabmap::util3d
    • +
  • laserScanToPointCloudNormal() : rtabmap::util3d
    • +
  • laserScanToPointCloudRGB() : rtabmap::util3d
    • +
  • laserScanToPointCloudRGBNormal() : rtabmap::util3d
    • +
  • laserScanToPointI() : rtabmap::util3d
    • +
  • laserScanToPointINormal() : rtabmap::util3d
    • +
  • laserScanToPointNormal() : rtabmap::util3d
    • +
  • laserScanToPointRGB() : rtabmap::util3d
    • +
  • laserScanToPointRGBNormal() : rtabmap::util3d
  • loadBINCloud() : rtabmap::util3d
  • loadBINScan() : rtabmap::util3d
  • loadCloud() : rtabmap::util3d
    • diff --git a/preview/pr-1492/api/latest/namespacemembers_l.html b/preview/pr-1492/api/latest/namespacemembers_l.html index 0a3466c1..c60eb923 100644 --- a/preview/pr-1492/api/latest/namespacemembers_l.html +++ b/preview/pr-1492/api/latest/namespacemembers_l.html @@ -105,8 +105,20 @@ $(document).ready(function(){initNavTree('namespacemembers_l.html',''); initResi
  • laserScan2dFromPointCloud() : rtabmap::util3d
  • laserScanFromDepthImage() : rtabmap::util3d
  • laserScanFromDepthImages() : rtabmap::util3d
    • -
  • laserScanFromPointCloud() : rtabmap::util3d
    • +
  • laserScanFromPointCloud() : rtabmap::util3d
    • +
  • laserScanToPoint() : rtabmap::util3d
    • +
  • laserScanToPointCloud() : rtabmap::util3d
  • laserScanToPointCloud2() : rtabmap::util3d
    • +
  • laserScanToPointCloudI() : rtabmap::util3d
    • +
  • laserScanToPointCloudINormal() : rtabmap::util3d
    • +
  • laserScanToPointCloudNormal() : rtabmap::util3d
    • +
  • laserScanToPointCloudRGB() : rtabmap::util3d
    • +
  • laserScanToPointCloudRGBNormal() : rtabmap::util3d
    • +
  • laserScanToPointI() : rtabmap::util3d
    • +
  • laserScanToPointINormal() : rtabmap::util3d
    • +
  • laserScanToPointNormal() : rtabmap::util3d
    • +
  • laserScanToPointRGB() : rtabmap::util3d
    • +
  • laserScanToPointRGBNormal() : rtabmap::util3d
  • loadBINCloud() : rtabmap::util3d
  • loadBINScan() : rtabmap::util3d
  • loadCloud() : rtabmap::util3d
    • diff --git a/preview/pr-1492/api/latest/namespacertabmap.js b/preview/pr-1492/api/latest/namespacertabmap.js index cc2185b7..327001bc 100644 --- a/preview/pr-1492/api/latest/namespacertabmap.js +++ b/preview/pr-1492/api/latest/namespacertabmap.js @@ -82,6 +82,18 @@ var namespacertabmap = [ "laserScan2dFromPointCloud", "group__LaserScan2dFromPointCloud.html#ga6cb623d1b3ce9c244a7d4ef346a721db", null ], [ "laserScan2dFromPointCloud", "group__LaserScan2dFromPointCloud.html#ga0354b321c4196232fb1183c3a322b5f8", null ], [ "laserScanToPointCloud2", "group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c", null ], + [ "laserScanToPointCloud", "group__LaserScanToPointCloud.html#gac4aef207f79791db5064dc596e25513b", null ], + [ "laserScanToPointCloudNormal", "group__LaserScanToPointCloud.html#gafe2b6826178bf0af878be67bddf3c9bd", null ], + [ "laserScanToPointCloudRGB", "group__LaserScanToPointCloud.html#gaee3e6a7ef23f6e5f9a19a0b033d7522c", null ], + [ "laserScanToPointCloudI", "group__LaserScanToPointCloud.html#ga734628cdc1b15384476dc94d1c3dbb4d", null ], + [ "laserScanToPointCloudRGBNormal", "group__LaserScanToPointCloud.html#ga741bd010511d5284831012194eab99b9", null ], + [ "laserScanToPointCloudINormal", "group__LaserScanToPointCloud.html#ga8ee678c27ae59e2bb3fac8aeb55f9d92", null ], + [ "laserScanToPoint", "group__LaserScanToPointCloud.html#gaeda3b4a673cb96e6421688e6c575e4e5", null ], + [ "laserScanToPointNormal", "group__LaserScanToPointCloud.html#ga4412f275d60b69f0f62db56321c5991c", null ], + [ "laserScanToPointRGB", "group__LaserScanToPointCloud.html#gad0183648eae48143b33bfe969f8cbe43", null ], + [ "laserScanToPointI", "group__LaserScanToPointCloud.html#ga03b1c3a49aba08fcbc01b5991f25d0cc", null ], + [ "laserScanToPointRGBNormal", "group__LaserScanToPointCloud.html#ga675b84c6a6edde91883e38f49c087f31", null ], + [ "laserScanToPointINormal", "group__LaserScanToPointCloud.html#gab69062f7ffd0f2192983c6d7afa4a171", null ], [ "getMinMax3D", "namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018", null ], [ "getMinMax3D", "namespacertabmap_1_1util3d.html#afc22f82c00f6dcc8a4ec1963891f4b7e", null ], [ "projectDisparityTo3D", "namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5", null ], diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html index 06941d18..3c9a4eec 100644 --- a/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html @@ -307,39 +307,51 @@ pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT   pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud (const LaserScan &laserScan, const Transform &transform=Transform()) + LaserScan → PointXYZ (x, y, z); any other field of the scan is dropped.
      pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal (const LaserScan &laserScan, const Transform &transform=Transform()) + LaserScan → PointNormal (x, y, z, nx, ny, nz); normals are zeroed if the scan has none.
      pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100) + LaserScan → PointXYZRGB (x, y, z, rgb); r, g and b are used if the scan has no color.
      pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f) + LaserScan → PointXYZI (x, y, z, intensity); intensity is used if the scan has none.
      pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100) + LaserScan → PointXYZRGBNormal (x, y, z, rgb, nx, ny, nz); missing color and normals are filled as above.
      pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f) + LaserScan → PointXYZINormal (x, y, z, intensity, nx, ny, nz); missing intensity and normals are filled as above.
      pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint (const LaserScan &laserScan, int index) + The point at index of the scan, as PointXYZ.
      pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal (const LaserScan &laserScan, int index) + The point at index of the scan, as PointNormal.
      pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB (const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100) + The point at index of the scan, as PointXYZRGB.
      pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI (const LaserScan &laserScan, int index, float intensity) + The point at index of the scan, as PointXYZI.
      pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal (const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b) + The point at index of the scan, as PointXYZRGBNormal.
      pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal (const LaserScan &laserScan, int index, float intensity) + The point at index of the scan, as PointXYZINormal.
      void RTABMAP_CORE_EXPORT getMinMax3D (const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)  Computes the minimum and maximum 3D points from a laser scan matrix.
    @@ -5791,7 +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 430 of file util3d_filtering.h.

    +

    Definition at line 357 of file util3d_filtering.h.

    @@ -5841,7 +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 448 of file util3d_filtering.h.

    +

    Definition at line 375 of file util3d_filtering.h.

    @@ -5891,7 +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 466 of file util3d_filtering.h.

    +

    Definition at line 393 of file util3d_filtering.h.

    diff --git a/preview/pr-1492/api/latest/navtreedata.js b/preview/pr-1492/api/latest/navtreedata.js index 551db7bf..69527978 100644 --- a/preview/pr-1492/api/latest/navtreedata.js +++ b/preview/pr-1492/api/latest/navtreedata.js @@ -141,7 +141,7 @@ var NAVTREEINDEX = "classrtabmap_1_1StereoCameraModel.html#a179ffcbc49ff3a281ef33cb4381e061c", "classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c", "group__LaserScanFromPointCloud.html#gaa98ccb732868f5ab4e91cd6f82602852", -"namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2" +"namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e" ]; var SYNCONMSG = 'click to disable panel synchronisation'; diff --git a/preview/pr-1492/api/latest/navtreeindex1.js b/preview/pr-1492/api/latest/navtreeindex1.js index e250a3d9..f0deddd6 100644 --- a/preview/pr-1492/api/latest/navtreeindex1.js +++ b/preview/pr-1492/api/latest/navtreeindex1.js @@ -228,26 +228,26 @@ var NAVTREEINDEX1 = "classes.html":[7,1], 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    664 float maxDepth,
    665 float minDepth);
    666
    -
    697LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    702LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    707LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    712LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    717LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    722LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    727LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    732LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    737LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    742LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    747LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    752LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    757LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    762LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    767LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    772LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    777LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    778
    -
    783template<typename PointCloud2T>
    -
    784LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
    -
    785
    -
    810LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    815LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    820LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    825LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    830LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    835LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    836
    -
    853pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
    -
    854pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
    -
    855pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
    -
    856pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    -
    857pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    -
    858pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    -
    859pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    -
    860
    -
    861
    -
    862pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan & laserScan, int index);
    -
    863pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan & laserScan, int index);
    -
    864pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    -
    865pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
    -
    866pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
    -
    867pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
    -
    868
    -
    890void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
    -
    891
    -
    905void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
    -
    906
    -
    929cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    -
    930 const cv::Point2f & pt,
    -
    931 float disparity,
    -
    932 const StereoCameraModel & model);
    -
    933
    -
    952cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    -
    953 const cv::Point2f & pt,
    -
    954 const cv::Mat & disparity,
    -
    955 const StereoCameraModel & model);
    -
    956
    -
    977cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    -
    978 const cv::Size & imageSize,
    -
    979 const cv::Mat & cameraMatrixK,
    -
    980 const cv::Mat & laserScan,
    -
    981 const rtabmap::Transform & cameraTransform);
    -
    982
    -
    1003cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    -
    1004 const cv::Size & imageSize,
    -
    1005 const cv::Mat & cameraMatrixK,
    -
    1006 const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,
    -
    1007 const rtabmap::Transform & cameraTransform);
    -
    1008
    -
    1029cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    -
    1030 const cv::Size & imageSize,
    -
    1031 const cv::Mat & cameraMatrixK,
    -
    1032 const pcl::PCLPointCloud2::Ptr laserScan,
    -
    1033 const rtabmap::Transform & cameraTransform);
    -
    1034
    -
    1054void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
    -
    1055 cv::Mat & depthRegistered,
    -
    1056 bool verticalDirection,
    -
    1057 bool fillToBorder);
    -
    1058
    -
    1087cv::Mat RTABMAP_CORE_EXPORT filterFloor(
    -
    1088 const cv::Mat & depth,
    -
    1089 const std::vector<CameraModel> & cameraModels,
    -
    1090 float threshold,
    -
    1091 cv::Mat * depthBelow = 0);
    -
    1092
    -
    1113std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    -
    1114 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    -
    1115 const std::map<int, Transform> & cameraPoses,
    -
    1116 const std::map<int, std::vector<CameraModel> > & cameraModels,
    -
    1117 float maxDistance = 0.0f,
    -
    1118 float maxAngle = 0.0f,
    -
    1119 float maxDepthError = 0.0f,
    -
    1120 const std::vector<float> & roiRatios = std::vector<float>(),
    -
    1121 const cv::Mat & projMask = cv::Mat(),
    -
    1122 bool distanceToCamPolicy = false,
    -
    1123 const ProgressState * state = 0);
    -
    1144std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    -
    1145 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    -
    1146 const std::map<int, Transform> & cameraPoses,
    -
    1147 const std::map<int, std::vector<CameraModel> > & cameraModels,
    -
    1148 float maxDistance = 0.0f,
    -
    1149 float maxAngle = 0.0f,
    -
    1150 float maxDepthError = 0.0f,
    -
    1151 const std::vector<float> & roiRatios = std::vector<float>(),
    -
    1152 const cv::Mat & projMask = cv::Mat(),
    -
    1153 bool distanceToCamPolicy = false,
    -
    1154 const ProgressState * state = 0);
    -
    1155
    -
    1165bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt);
    -
    1166
    -
    1176pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    -
    1177 const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
    -
    1187pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    -
    1188 const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
    -
    1189
    -
    1204pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    -
    1205 const std::vector<pcl::IndicesPtr> & indices);
    -
    1206
    -
    1221pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    -
    1222 const pcl::IndicesPtr & indicesA,
    -
    1223 const pcl::IndicesPtr & indicesB);
    -
    1224
    -
    1236void RTABMAP_CORE_EXPORT savePCDWords(
    -
    1237 const std::string & fileName,
    -
    1238 const std::multimap<int, pcl::PointXYZ> & words,
    -
    1239 const Transform & transform = Transform::getIdentity());
    -
    1240
    -
    1252void RTABMAP_CORE_EXPORT savePCDWords(
    -
    1253 const std::string & fileName,
    -
    1254 const std::multimap<int, cv::Point3f> & words,
    -
    1255 const Transform & transform = Transform::getIdentity());
    -
    1256
    -
    1267cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName);
    -
    1276pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName);
    -
    1285RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName, int dim);
    -
    1286
    -
    1297LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path);
    -
    1298
    -
    1312RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(
    -
    1313 const std::string & path,
    -
    1314 const Transform & transform = Transform::getIdentity(),
    -
    1315 int downsampleStep = 1,
    -
    1316 float voxelSize = 0.0f);
    -
    1317
    -
    1349LaserScan RTABMAP_CORE_EXPORT deskew(
    -
    1350 const LaserScan & input,
    -
    1351 double inputStamp,
    -
    1352 const rtabmap::Transform & velocity);
    -
    1353
    -
    1354} // namespace util3d
    -
    1355} // namespace rtabmap
    -
    1356
    -
    1357POINT_CLOUD_REGISTER_POINT_STRUCT(rtabmap::PointXYZIRT,
    -
    1358 (float, x, x)
    -
    1359 (float, y, y)
    -
    1360 (float, z, z)
    -
    1361 (float, intensity, intensity)
    -
    1362 (std::uint16_t, ring, ring)
    -
    1363 (float, time, time)
    -
    1364)
    -
    1365
    -
    1366#include "rtabmap/core/impl/util3d.hpp"
    -
    1367
    -
    1368#endif /* UTIL3D_H_ */
    +
    695LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    697LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    699LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    701LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    703LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    705LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    707LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    709LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    711LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    713LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    715LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    717LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    719LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    721LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    723LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    725LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    727LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    728
    +
    730template<typename PointCloud2T>
    +
    731LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
    +
    756LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    758LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    760LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    762LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    764LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    766LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    785pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    787pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    789pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    791pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    793pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    +
    795pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    797pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    +
    798
    +
    799
    +
    801pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan & laserScan, int index);
    +
    803pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan & laserScan, int index);
    +
    805pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    807pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
    +
    809pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
    +
    811pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
    +
    812
    +
    834void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
    +
    835
    +
    849void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
    +
    850
    +
    873cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    +
    874 const cv::Point2f & pt,
    +
    875 float disparity,
    +
    876 const StereoCameraModel & model);
    +
    877
    +
    896cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    +
    897 const cv::Point2f & pt,
    +
    898 const cv::Mat & disparity,
    +
    899 const StereoCameraModel & model);
    +
    900
    +
    921cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    922 const cv::Size & imageSize,
    +
    923 const cv::Mat & cameraMatrixK,
    +
    924 const cv::Mat & laserScan,
    +
    925 const rtabmap::Transform & cameraTransform);
    +
    926
    +
    947cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    948 const cv::Size & imageSize,
    +
    949 const cv::Mat & cameraMatrixK,
    +
    950 const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,
    +
    951 const rtabmap::Transform & cameraTransform);
    +
    952
    +
    973cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    974 const cv::Size & imageSize,
    +
    975 const cv::Mat & cameraMatrixK,
    +
    976 const pcl::PCLPointCloud2::Ptr laserScan,
    +
    977 const rtabmap::Transform & cameraTransform);
    +
    978
    +
    998void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
    +
    999 cv::Mat & depthRegistered,
    +
    1000 bool verticalDirection,
    +
    1001 bool fillToBorder);
    +
    1002
    +
    1031cv::Mat RTABMAP_CORE_EXPORT filterFloor(
    +
    1032 const cv::Mat & depth,
    +
    1033 const std::vector<CameraModel> & cameraModels,
    +
    1034 float threshold,
    +
    1035 cv::Mat * depthBelow = 0);
    +
    1036
    +
    1057std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    +
    1058 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    +
    1059 const std::map<int, Transform> & cameraPoses,
    +
    1060 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    1061 float maxDistance = 0.0f,
    +
    1062 float maxAngle = 0.0f,
    +
    1063 float maxDepthError = 0.0f,
    +
    1064 const std::vector<float> & roiRatios = std::vector<float>(),
    +
    1065 const cv::Mat & projMask = cv::Mat(),
    +
    1066 bool distanceToCamPolicy = false,
    +
    1067 const ProgressState * state = 0);
    +
    1088std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    +
    1089 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    +
    1090 const std::map<int, Transform> & cameraPoses,
    +
    1091 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    1092 float maxDistance = 0.0f,
    +
    1093 float maxAngle = 0.0f,
    +
    1094 float maxDepthError = 0.0f,
    +
    1095 const std::vector<float> & roiRatios = std::vector<float>(),
    +
    1096 const cv::Mat & projMask = cv::Mat(),
    +
    1097 bool distanceToCamPolicy = false,
    +
    1098 const ProgressState * state = 0);
    +
    1099
    +
    1109bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt);
    +
    1110
    +
    1120pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    +
    1121 const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
    +
    1131pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    +
    1132 const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
    +
    1133
    +
    1148pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    +
    1149 const std::vector<pcl::IndicesPtr> & indices);
    +
    1150
    +
    1165pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    +
    1166 const pcl::IndicesPtr & indicesA,
    +
    1167 const pcl::IndicesPtr & indicesB);
    +
    1168
    +
    1180void RTABMAP_CORE_EXPORT savePCDWords(
    +
    1181 const std::string & fileName,
    +
    1182 const std::multimap<int, pcl::PointXYZ> & words,
    +
    1183 const Transform & transform = Transform::getIdentity());
    +
    1184
    +
    1196void RTABMAP_CORE_EXPORT savePCDWords(
    +
    1197 const std::string & fileName,
    +
    1198 const std::multimap<int, cv::Point3f> & words,
    +
    1199 const Transform & transform = Transform::getIdentity());
    +
    1200
    +
    1211cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName);
    +
    1220pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName);
    +
    1229RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName, int dim);
    +
    1230
    +
    1241LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path);
    +
    1242
    +
    1256RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(
    +
    1257 const std::string & path,
    +
    1258 const Transform & transform = Transform::getIdentity(),
    +
    1259 int downsampleStep = 1,
    +
    1260 float voxelSize = 0.0f);
    +
    1261
    +
    1293LaserScan RTABMAP_CORE_EXPORT deskew(
    +
    1294 const LaserScan & input,
    +
    1295 double inputStamp,
    +
    1296 const rtabmap::Transform & velocity);
    +
    1297
    +
    1298} // namespace util3d
    +
    1299} // namespace rtabmap
    +
    1300
    +
    1301POINT_CLOUD_REGISTER_POINT_STRUCT(rtabmap::PointXYZIRT,
    +
    1302 (float, x, x)
    +
    1303 (float, y, y)
    +
    1304 (float, z, z)
    +
    1305 (float, intensity, intensity)
    +
    1306 (std::uint16_t, ring, ring)
    +
    1307 (float, time, time)
    +
    1308)
    +
    1309
    +
    1310#include "rtabmap/core/impl/util3d.hpp"
    +
    1311
    +
    1312#endif /* UTIL3D_H_ */
    rtabmap::CameraModel
    Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
    Definition CameraModel.h:53
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    rtabmap::ProgressState
    Definition ProgressState.h:36
    @@ -512,7 +510,19 @@ $(document).ready(function(){initNavTree('util3d_8h_source.html',''); initResiza
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    rtabmap::util3d::laserScan2dFromPointCloud
    LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
    PointXYZ → LaserScan::kXY
    rtabmap::util3d::laserScanFromPointCloud
    LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)
    Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...
    Definition util3d.hpp:37
    +
    rtabmap::util3d::laserScanToPointI
    pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan &laserScan, int index, float intensity)
    The point at index of the scan, as PointXYZI.
    rtabmap::util3d::laserScanToPointCloud2
    pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan &laserScan, const Transform &transform=Transform())
    Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::...
    +
    rtabmap::util3d::laserScanToPointNormal
    pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan &laserScan, int index)
    The point at index of the scan, as PointNormal.
    +
    rtabmap::util3d::laserScanToPointRGBNormal
    pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)
    The point at index of the scan, as PointXYZRGBNormal.
    +
    rtabmap::util3d::laserScanToPointCloudI
    pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
    LaserScan → PointXYZI (x, y, z, intensity); intensity is used if the scan has none.
    +
    rtabmap::util3d::laserScanToPointCloudRGBNormal
    pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
    LaserScan → PointXYZRGBNormal (x, y, z, rgb, nx, ny, nz); missing color and normals are filled as abo...
    +
    rtabmap::util3d::laserScanToPointCloudINormal
    pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
    LaserScan → PointXYZINormal (x, y, z, intensity, nx, ny, nz); missing intensity and normals are fille...
    +
    rtabmap::util3d::laserScanToPointINormal
    pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan &laserScan, int index, float intensity)
    The point at index of the scan, as PointXYZINormal.
    +
    rtabmap::util3d::laserScanToPointCloud
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan &laserScan, const Transform &transform=Transform())
    LaserScan → PointXYZ (x, y, z); any other field of the scan is dropped.
    +
    rtabmap::util3d::laserScanToPointRGB
    pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)
    The point at index of the scan, as PointXYZRGB.
    +
    rtabmap::util3d::laserScanToPoint
    pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan &laserScan, int index)
    The point at index of the scan, as PointXYZ.
    +
    rtabmap::util3d::laserScanToPointCloudRGB
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
    LaserScan → PointXYZRGB (x, y, z, rgb); r, g and b are used if the scan has no color.
    +
    rtabmap::util3d::laserScanToPointCloudNormal
    pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan &laserScan, const Transform &transform=Transform())
    LaserScan → PointNormal (x, y, z, nx, ny, nz); normals are zeroed if the scan has none.
    rtabmap::util3d::laserScanFromDepthImages
    pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImages(const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth)
    Converts multiple depth images (e.g., from a stereo or multi-camera setup) into a single laser scan (...
    rtabmap::util3d::cloudFromDisparityRGB
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(const cv::Mat &imageRgb, const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    Converts a disparity image and an RGB image to a 3D point cloud with color.
    rtabmap::util3d::cloudsRGBFromSensorData
    std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
    Generates a point cloud with RGB color data from sensor data.
    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 0fa52ed0..6e9baa05 100644 --- a/preview/pr-1492/api/latest/util3d__filtering_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__filtering_8h_source.html @@ -174,776 +174,759 @@ $(document).ready(function(){initNavTree('util3d__filtering_8h_source.html','');
    118 float rangeMin,
    119 float rangeMax);
    120
    -
    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);
    -
    152pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    -
    153 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    154 const pcl::IndicesPtr & indices,
    -
    155 float rangeMin,
    -
    156 float rangeMax);
    -
    161pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    -
    162 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    163 const pcl::IndicesPtr & indices,
    -
    164 float rangeMin,
    -
    165 float rangeMax);
    -
    170pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    -
    171 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    172 const pcl::IndicesPtr & indices,
    -
    173 float rangeMin,
    -
    174 float rangeMax);
    -
    175
    -
    198void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    199 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    200 const pcl::IndicesPtr & indices,
    -
    201 float range,
    -
    202 pcl::IndicesPtr & closeIndices,
    -
    203 pcl::IndicesPtr & farIndices);
    -
    208void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    209 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    210 const pcl::IndicesPtr & indices,
    -
    211 float range,
    -
    212 pcl::IndicesPtr & closeIndices,
    -
    213 pcl::IndicesPtr & farIndices);
    -
    218void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    219 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    220 const pcl::IndicesPtr & indices,
    -
    221 float range,
    -
    222 pcl::IndicesPtr & closeIndices,
    -
    223 pcl::IndicesPtr & farIndices);
    -
    228void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    -
    229 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    230 const pcl::IndicesPtr & indices,
    -
    231 float range,
    -
    232 pcl::IndicesPtr & closeIndices,
    -
    233 pcl::IndicesPtr & farIndices);
    -
    234
    -
    259LaserScan RTABMAP_CORE_EXPORT downsample(
    -
    260 const LaserScan & cloud,
    -
    261 int step);
    -
    266pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    267 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    268 int step);
    -
    273pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    274 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    275 int step);
    -
    280pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    281 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    282 int step);
    -
    287pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    288 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    289 int step);
    -
    294pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    295 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    296 int step);
    -
    301pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    -
    302 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    303 int step);
    -
    304
    -
    331pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    332 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    333 const pcl::IndicesPtr & indices,
    +
    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);
    -
    339pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    340 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    341 const pcl::IndicesPtr & indices,
    +
    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);
    -
    347pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    348 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    349 const pcl::IndicesPtr & indices,
    -
    350 float voxelSize);
    -
    355pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    356 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    357 const pcl::IndicesPtr & indices,
    -
    358 float voxelSize);
    -
    363pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    364 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    365 const pcl::IndicesPtr & indices,
    -
    366 float voxelSize);
    -
    371pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    372 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    373 const pcl::IndicesPtr & indices,
    -
    374 float voxelSize);
    -
    379pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    380 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    381 float voxelSize);
    -
    386pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    387 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    388 float voxelSize);
    -
    393pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    394 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    395 float voxelSize);
    -
    400pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    401 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    402 float voxelSize);
    -
    407pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    408 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    409 float voxelSize);
    -
    414pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    -
    415 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    416 float voxelSize);
    -
    417
    -
    -
    430inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
    -
    431 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    432 float voxelSize)
    -
    433{
    -
    434 return voxelize(cloud, voxelSize);
    -
    435}
    +
    +
    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}
    -
    -
    448inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
    -
    449 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    450 float voxelSize)
    -
    451{
    -
    452 return voxelize(cloud, voxelSize);
    -
    453}
    +
    +
    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}
    -
    -
    466inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
    -
    467 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    468 float voxelSize)
    -
    469{
    -
    470 return voxelize(cloud, voxelSize);
    -
    471}
    +
    +
    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}
    -
    472
    -
    473
    -
    492pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    493 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    494 int samples);
    -
    499pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    500 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    501 int samples);
    -
    506pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    507 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    508 int samples);
    -
    513pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    514 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    515 int samples);
    -
    520pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    521 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    522 int samples);
    -
    527pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    -
    528 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    529 int samples);
    -
    530
    -
    557pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    558 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    559 const pcl::IndicesPtr & indices,
    -
    560 const std::string & axis,
    -
    561 float min,
    -
    562 float max,
    -
    563 bool negative = false);
    -
    568pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    569 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    570 const pcl::IndicesPtr & indices,
    -
    571 const std::string & axis,
    -
    572 float min,
    -
    573 float max,
    -
    574 bool negative = false);
    -
    579pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    580 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    581 const pcl::IndicesPtr & indices,
    -
    582 const std::string & axis,
    -
    583 float min,
    -
    584 float max,
    -
    585 bool negative = false);
    -
    590pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    591 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    592 const pcl::IndicesPtr & indices,
    -
    593 const std::string & axis,
    -
    594 float min,
    -
    595 float max,
    -
    596 bool negative = false);
    -
    601pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    602 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    603 const pcl::IndicesPtr & indices,
    -
    604 const std::string & axis,
    -
    605 float min,
    -
    606 float max,
    -
    607 bool negative = false);
    -
    612pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    -
    613 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    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 std::string & axis,
    -
    616 float min,
    -
    617 float max,
    +
    615 const Eigen::Vector4f & min,
    +
    616 const Eigen::Vector4f & max,
    +
    617 const Transform & transform = Transform::getIdentity(),
    618 bool negative = false);
    -
    623pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    624 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    625 const std::string & axis,
    -
    626 float min,
    -
    627 float max,
    -
    628 bool negative = false);
    -
    633pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    634 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    635 const std::string & axis,
    -
    636 float min,
    -
    637 float max,
    -
    638 bool negative = false);
    -
    643pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    644 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    645 const std::string & axis,
    -
    646 float min,
    -
    647 float max,
    +
    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);
    -
    653pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    654 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    655 const std::string & axis,
    -
    656 float min,
    -
    657 float max,
    -
    658 bool negative = false);
    -
    663pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    664 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    665 const std::string & axis,
    -
    666 float min,
    -
    667 float max,
    -
    668 bool negative = false);
    -
    673pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    -
    674 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    675 const std::string & axis,
    -
    676 float min,
    -
    677 float max,
    -
    678 bool negative = false);
    -
    679
    -
    705pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    706 const pcl::PCLPointCloud2::Ptr & cloud,
    -
    707 const pcl::IndicesPtr & indices,
    -
    708 const Eigen::Vector4f & min,
    -
    709 const Eigen::Vector4f & max,
    -
    710 const Transform & transform = Transform::getIdentity(),
    -
    711 bool negative = false);
    -
    716pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    717 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    718 const pcl::IndicesPtr & indices,
    -
    719 const Eigen::Vector4f & min,
    -
    720 const Eigen::Vector4f & max,
    -
    721 const Transform & transform = Transform::getIdentity(),
    -
    722 bool negative = false);
    -
    727pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    728 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    729 const pcl::IndicesPtr & indices,
    -
    730 const Eigen::Vector4f & min,
    -
    731 const Eigen::Vector4f & max,
    -
    732 const Transform & transform = Transform::getIdentity(),
    -
    733 bool negative = false);
    -
    738pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    739 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    740 const pcl::IndicesPtr & indices,
    -
    741 const Eigen::Vector4f & min,
    -
    742 const Eigen::Vector4f & max,
    -
    743 const Transform & transform = Transform::getIdentity(),
    -
    744 bool negative = false);
    -
    749pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    750 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    751 const pcl::IndicesPtr & indices,
    -
    752 const Eigen::Vector4f & min,
    -
    753 const Eigen::Vector4f & max,
    -
    754 const Transform & transform = Transform::getIdentity(),
    -
    755 bool negative = false);
    -
    760pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    761 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    762 const pcl::IndicesPtr & indices,
    -
    763 const Eigen::Vector4f & min,
    -
    764 const Eigen::Vector4f & max,
    -
    765 const Transform & transform = Transform::getIdentity(),
    -
    766 bool negative = false);
    -
    771pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    -
    772 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    773 const pcl::IndicesPtr & indices,
    -
    774 const Eigen::Vector4f & min,
    -
    775 const Eigen::Vector4f & max,
    -
    776 const Transform & transform = Transform::getIdentity(),
    -
    777 bool negative = false);
    -
    782pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    783 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    784 const Eigen::Vector4f & min,
    -
    785 const Eigen::Vector4f & max,
    -
    786 const Transform & transform = Transform::getIdentity(),
    -
    787 bool negative = false);
    -
    792pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    793 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    794 const Eigen::Vector4f & min,
    -
    795 const Eigen::Vector4f & max,
    -
    796 const Transform & transform = Transform::getIdentity(),
    -
    797 bool negative = false);
    -
    802pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    803 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    804 const Eigen::Vector4f & min,
    -
    805 const Eigen::Vector4f & max,
    -
    806 const Transform & transform = Transform::getIdentity(),
    -
    807 bool negative = false);
    -
    812pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    813 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    814 const Eigen::Vector4f & min,
    -
    815 const Eigen::Vector4f & max,
    -
    816 const Transform & transform = Transform::getIdentity(),
    -
    817 bool negative = false);
    -
    822pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    823 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    824 const Eigen::Vector4f & min,
    -
    825 const Eigen::Vector4f & max,
    -
    826 const Transform & transform = Transform::getIdentity(),
    -
    827 bool negative = false);
    -
    832pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    -
    833 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    834 const Eigen::Vector4f & min,
    -
    835 const Eigen::Vector4f & max,
    -
    836 const Transform & transform = Transform::getIdentity(),
    -
    837 bool negative = false);
    -
    838
    -
    873pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering(
    -
    874 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    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 const Transform & cameraPose,
    -
    877 float horizontalFOV,
    -
    878 float verticalFOV,
    -
    879 float nearClipPlaneDistance,
    -
    880 float farClipPlaneDistance,
    -
    881 bool negative = false);
    -
    886pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    -
    887 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    888 const Transform & cameraPose,
    -
    889 float horizontalFOV,
    -
    890 float verticalFOV,
    -
    891 float nearClipPlaneDistance,
    -
    892 float farClipPlaneDistance,
    -
    893 bool negative = false);
    -
    898pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    -
    899 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    900 const Transform & cameraPose,
    -
    901 float horizontalFOV,
    -
    902 float verticalFOV,
    -
    903 float nearClipPlaneDistance,
    -
    904 float farClipPlaneDistance,
    -
    905 bool negative = false);
    -
    906
    -
    926pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    927 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
    -
    932pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    933 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
    -
    938pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    939 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud);
    -
    944pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    -
    945 const pcl::PCLPointCloud2::Ptr & cloud);
    -
    946
    -
    947
    -
    964pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    -
    965 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
    -
    970pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    -
    971 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
    -
    976pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    -
    977 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
    -
    978
    -
    1005pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1006 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1007 float radiusSearch,
    -
    1008 int minNeighborsInRadius);
    -
    1013pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1014 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1015 float radiusSearch,
    -
    1016 int minNeighborsInRadius);
    -
    1021pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1022 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1023 float radiusSearch,
    -
    1024 int minNeighborsInRadius);
    -
    1029pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1030 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1031 float radiusSearch,
    -
    1032 int minNeighborsInRadius);
    -
    1037pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1038 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1039 float radiusSearch,
    -
    1040 int minNeighborsInRadius);
    -
    1045pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1046 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1047 float radiusSearch,
    -
    1048 int minNeighborsInRadius);
    -
    1053pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1054 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1055 const pcl::IndicesPtr & indices,
    -
    1056 float radiusSearch,
    -
    1057 int minNeighborsInRadius);
    -
    1062pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1063 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1064 const pcl::IndicesPtr & indices,
    -
    1065 float radiusSearch,
    -
    1066 int minNeighborsInRadius);
    -
    1071pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1072 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1073 const pcl::IndicesPtr & indices,
    -
    1074 float radiusSearch,
    -
    1075 int minNeighborsInRadius);
    -
    1080pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1081 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1082 const pcl::IndicesPtr & indices,
    -
    1083 float radiusSearch,
    -
    1084 int minNeighborsInRadius);
    -
    1089pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1090 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1091 const pcl::IndicesPtr & indices,
    -
    1092 float radiusSearch,
    -
    1093 int minNeighborsInRadius);
    -
    1098pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    -
    1099 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1100 const pcl::IndicesPtr & indices,
    -
    1101 float radiusSearch,
    -
    1102 int minNeighborsInRadius);
    -
    1103
    -
    1144pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1145 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1146 const std::vector<int> & viewpointIndices,
    -
    1147 const std::map<int, Transform> & viewpoints,
    -
    1148 float factor=0.01f,
    -
    1149 float neighborScale=2.0f);
    -
    1154pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1155 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1156 const std::vector<int> & viewpointIndices,
    -
    1157 const std::map<int, Transform> & viewpoints,
    -
    1158 float factor=0.01f,
    -
    1159 float neighborScale=2.0f);
    -
    1164pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1165 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1166 const std::vector<int> & viewpointIndices,
    -
    1167 const std::map<int, Transform> & viewpoints,
    -
    1168 float factor=0.01f,
    -
    1169 float neighborScale=2.0f);
    -
    1174pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1175 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1176 const std::vector<int> & viewpointIndices,
    -
    1177 const std::map<int, Transform> & viewpoints,
    -
    1178 float factor=0.01f,
    -
    1179 float neighborScale=2.0f);
    -
    1184pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1185 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1186 const std::vector<int> & viewpointIndices,
    -
    1187 const std::map<int, Transform> & viewpoints,
    -
    1188 float factor=0.01f,
    -
    1189 float neighborScale=2.0f);
    -
    1194pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1195 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1196 const std::vector<int> & viewpointIndices,
    -
    1197 const std::map<int, Transform> & viewpoints,
    -
    1198 float factor=0.01f,
    -
    1199 float neighborScale=2.0f);
    -
    1200
    -
    1205pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1206 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1207 const pcl::IndicesPtr & indices,
    -
    1208 const std::vector<int> & viewpointIndices,
    -
    1209 const std::map<int, Transform> & viewpoints,
    -
    1210 float factor=0.01f,
    -
    1211 float neighborScale=2.0f);
    -
    1216pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1217 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1218 const pcl::IndicesPtr & indices,
    -
    1219 const std::vector<int> & viewpointIndices,
    -
    1220 const std::map<int, Transform> & viewpoints,
    -
    1221 float factor=0.01f,
    -
    1222 float neighborScale=2.0f);
    -
    1227pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1228 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1229 const pcl::IndicesPtr & indices,
    -
    1230 const std::vector<int> & viewpointIndices,
    -
    1231 const std::map<int, Transform> & viewpoints,
    -
    1232 float factor=0.01f,
    -
    1233 float neighborScale=2.0f);
    -
    1238pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1239 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    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 const std::vector<int> & viewpointIndices,
    -
    1242 const std::map<int, Transform> & viewpoints,
    -
    1243 float factor=0.01f,
    -
    1244 float neighborScale=2.0f);
    -
    1249pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1250 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1251 const pcl::IndicesPtr & indices,
    -
    1252 const std::vector<int> & viewpointIndices,
    -
    1253 const std::map<int, Transform> & viewpoints,
    -
    1254 float factor=0.01f,
    -
    1255 float neighborScale=2.0f);
    -
    1260pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    -
    1261 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1262 const pcl::IndicesPtr & indices,
    -
    1263 const std::vector<int> & viewpointIndices,
    -
    1264 const std::map<int, Transform> & viewpoints,
    -
    1265 float factor=0.01f,
    -
    1266 float neighborScale=2.0f);
    -
    1267
    -
    1292pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1293 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1294 const pcl::IndicesPtr & indices,
    -
    1295 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    -
    1296 const pcl::IndicesPtr & subtractIndices,
    -
    1297 float radiusSearch,
    -
    1298 int minNeighborsInRadius = 1);
    -
    1303pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1304 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1305 const pcl::IndicesPtr & indices,
    -
    1306 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    -
    1307 const pcl::IndicesPtr & subtractIndices,
    -
    1308 float radiusSearch,
    -
    1309 int minNeighborsInRadius = 1);
    -
    1314pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1315 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1316 const pcl::IndicesPtr & indices,
    -
    1317 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    -
    1318 const pcl::IndicesPtr & subtractIndices,
    -
    1319 float radiusSearch,
    -
    1320 float maxAngle = M_PI/4.0f,
    -
    1321 int minNeighborsInRadius = 1);
    -
    1326pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1327 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1328 const pcl::IndicesPtr & indices,
    -
    1329 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    -
    1330 const pcl::IndicesPtr & subtractIndices,
    -
    1331 float radiusSearch,
    -
    1332 float maxAngle = M_PI/4.0f,
    -
    1333 int minNeighborsInRadius = 1);
    -
    1338pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1339 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1340 const pcl::IndicesPtr & indices,
    -
    1341 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    -
    1342 const pcl::IndicesPtr & subtractIndices,
    -
    1343 float radiusSearch,
    -
    1344 float maxAngle = M_PI/4.0f,
    -
    1345 int minNeighborsInRadius = 1);
    -
    1350pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1351 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1352 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    -
    1353 float radiusSearch,
    -
    1354 int minNeighborsInRadius = 1);
    -
    1359pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1360 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1361 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    -
    1362 float radiusSearch,
    -
    1363 int minNeighborsInRadius = 1);
    -
    1368pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1369 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1370 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    -
    1371 float radiusSearch,
    -
    1372 float maxAngle = M_PI/4.0f,
    -
    1373 int minNeighborsInRadius = 1);
    -
    1378pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1379 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1380 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    -
    1381 float radiusSearch,
    -
    1382 float maxAngle = M_PI/4.0f,
    -
    1383 int minNeighborsInRadius = 1);
    -
    1388pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    -
    1389 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1390 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    -
    1391 float radiusSearch,
    -
    1392 float maxAngle = M_PI/4.0f,
    -
    1393 int minNeighborsInRadius = 1);
    -
    1394
    -
    1416pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    -
    1417 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    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 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    -
    1420 const pcl::IndicesPtr & subtractIndices,
    -
    1421 float radiusSearchRatio = 0.01,
    -
    1422 int minNeighborsInRadius = 1,
    -
    1423 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    -
    1424
    -
    1452pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    -
    1453 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1454 const pcl::IndicesPtr & indices,
    -
    1455 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    -
    1456 const pcl::IndicesPtr & subtractIndices,
    -
    1457 float radiusSearchRatio = 0.01,
    -
    1458 float maxAngle = M_PI/4.0f,
    -
    1459 int minNeighborsInRadius = 1,
    -
    1460 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    -
    1461
    -
    1462
    -
    1495pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1496 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1497 float angleMax,
    -
    1498 const Eigen::Vector4f & normal,
    -
    1499 int normalKSearch,
    -
    1500 const Eigen::Vector4f & viewpoint,
    -
    1501 float groundNormalsUp = 0.0f);
    -
    1506pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1507 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1508 float angleMax,
    -
    1509 const Eigen::Vector4f & normal,
    -
    1510 int normalKSearch,
    -
    1511 const Eigen::Vector4f & viewpoint,
    -
    1512 float groundNormalsUp = 0.0f);
    -
    1517pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1518 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1519 const pcl::IndicesPtr & indices,
    -
    1520 float angleMax,
    -
    1521 const Eigen::Vector4f & normal,
    -
    1522 int normalKSearch,
    -
    1523 const Eigen::Vector4f & viewpoint,
    -
    1524 float groundNormalsUp = 0.0f);
    -
    1529pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1530 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1531 const pcl::IndicesPtr & indices,
    -
    1532 float angleMax,
    -
    1533 const Eigen::Vector4f & normal,
    -
    1534 int normalKSearch,
    -
    1535 const Eigen::Vector4f & viewpoint,
    -
    1536 float groundNormalsUp = 0.0f);
    -
    1541pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1542 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1543 const pcl::IndicesPtr & indices,
    -
    1544 float angleMax,
    -
    1545 const Eigen::Vector4f & normal,
    -
    1546 int normalKSearch,
    -
    1547 const Eigen::Vector4f & viewpoint,
    -
    1548 float groundNormalsUp = 0.0f);
    -
    1553pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1554 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1555 const pcl::IndicesPtr & indices,
    -
    1556 float angleMax,
    -
    1557 const Eigen::Vector4f & normal,
    -
    1558 int normalKSearch,
    -
    1559 const Eigen::Vector4f & viewpoint,
    -
    1560 float groundNormalsUp = 0.0f);
    -
    1565pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1566 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1567 const pcl::IndicesPtr & indices,
    -
    1568 float angleMax,
    -
    1569 const Eigen::Vector4f & normal,
    -
    1570 int normalKSearch,
    -
    1571 const Eigen::Vector4f & viewpoint,
    -
    1572 float groundNormalsUp = 0.0f);
    -
    1577pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    -
    1578 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1579 const pcl::IndicesPtr & indices,
    -
    1580 float angleMax,
    -
    1581 const Eigen::Vector4f & normal,
    -
    1582 int normalKSearch,
    -
    1583 const Eigen::Vector4f & viewpoint,
    -
    1584 float groundNormalsUp = 0.0f);
    -
    1585
    -
    1613std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1614 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1615 float clusterTolerance,
    -
    1616 int minClusterSize,
    -
    1617 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1618 int * biggestClusterIndex = 0);
    -
    1623std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1624 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1625 float clusterTolerance,
    -
    1626 int minClusterSize,
    -
    1627 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1628 int * biggestClusterIndex = 0);
    -
    1633std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1634 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1635 const pcl::IndicesPtr & indices,
    -
    1636 float clusterTolerance,
    -
    1637 int minClusterSize,
    -
    1638 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1639 int * biggestClusterIndex = 0);
    -
    1644std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1645 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1646 const pcl::IndicesPtr & indices,
    -
    1647 float clusterTolerance,
    -
    1648 int minClusterSize,
    -
    1649 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1650 int * biggestClusterIndex = 0);
    -
    1655std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1656 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1657 const pcl::IndicesPtr & indices,
    -
    1658 float clusterTolerance,
    -
    1659 int minClusterSize,
    -
    1660 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1661 int * biggestClusterIndex = 0);
    -
    1666std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1667 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1668 const pcl::IndicesPtr & indices,
    -
    1669 float clusterTolerance,
    -
    1670 int minClusterSize,
    -
    1671 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1672 int * biggestClusterIndex = 0);
    -
    1677std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1678 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1679 const pcl::IndicesPtr & indices,
    -
    1680 float clusterTolerance,
    -
    1681 int minClusterSize,
    -
    1682 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1683 int * biggestClusterIndex = 0);
    -
    1688std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    -
    1689 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1690 const pcl::IndicesPtr & indices,
    -
    1691 float clusterTolerance,
    -
    1692 int minClusterSize,
    -
    1693 int maxClusterSize = std::numeric_limits<int>::max(),
    -
    1694 int * biggestClusterIndex = 0);
    -
    1695
    -
    1722pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1723 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1724 const pcl::IndicesPtr & indices,
    -
    1725 bool negative);
    -
    1730pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1731 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    1732 const pcl::IndicesPtr & indices,
    -
    1733 bool negative);
    -
    1738pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1739 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1740 const pcl::IndicesPtr & indices,
    -
    1741 bool negative);
    -
    1746pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1747 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1748 const pcl::IndicesPtr & indices,
    -
    1749 bool negative);
    -
    1754pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1755 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1756 const pcl::IndicesPtr & indices,
    -
    1757 bool negative);
    -
    1762pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    -
    1763 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1764 const pcl::IndicesPtr & indices,
    -
    1765 bool negative);
    -
    1770pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1771 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1772 const pcl::IndicesPtr & indices,
    -
    1773 bool negative,
    -
    1774 bool keepOrganized);
    -
    1779pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1780 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    1781 const pcl::IndicesPtr & indices,
    -
    1782 bool negative,
    -
    1783 bool keepOrganized);
    -
    1788pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1789 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    1790 const pcl::IndicesPtr & indices,
    -
    1791 bool negative,
    -
    1792 bool keepOrganized);
    -
    1797pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1798 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    1799 const pcl::IndicesPtr & indices,
    -
    1800 bool negative,
    -
    1801 bool keepOrganized);
    -
    1806pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    -
    1807 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    1808 const pcl::IndicesPtr & indices,
    -
    1809 bool negative,
    -
    1810 bool keepOrganized);
    -
    1811
    -
    1832pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    -
    1833 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1834 const pcl::IndicesPtr & indices,
    -
    1835 float distanceThreshold,
    -
    1836 int maxIterations = 100,
    -
    1837 pcl::ModelCoefficients * coefficientsOut = 0);
    -
    1838pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    -
    1839 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    1840 float distanceThreshold,
    -
    1841 int maxIterations = 100,
    -
    1842 pcl::ModelCoefficients * coefficientsOut = 0);
    -
    1843
    -
    1844} // namespace util3d
    -
    1845} // namespace rtabmap
    -
    1846
    -
    1847#endif /* UTIL3D_FILTERING_H_ */
    +
    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_ */
    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.
    @@ -964,7 +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:430
    +
    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::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/api/latest/util3d__registration_8h_source.html b/preview/pr-1492/api/latest/util3d__registration_8h_source.html index 2f3bf79d..822087df 100644 --- a/preview/pr-1492/api/latest/util3d__registration_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__registration_8h_source.html @@ -167,87 +167,86 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
    108 std::vector<int> * inliers = 0,
    109 cv::Mat * variance = 0);
    110
    -
    141void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    -
    142 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
    -
    143 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
    -
    144 double maxCorrespondenceDistance,
    -
    145 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
    -
    146 double & variance,
    -
    147 int & correspondencesOut,
    -
    148 bool reciprocal);
    -
    153void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    -
    154 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
    -
    155 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
    -
    156 double maxCorrespondenceDistance,
    -
    157 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
    -
    158 double & variance,
    -
    159 int & correspondencesOut,
    -
    160 bool reciprocal);
    -
    165void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    -
    166 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
    -
    167 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
    +
    139void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    140 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
    +
    141 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
    +
    142 double maxCorrespondenceDistance,
    +
    143 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
    +
    144 double & variance,
    +
    145 int & correspondencesOut,
    +
    146 bool reciprocal);
    +
    148void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    149 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
    +
    150 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
    +
    151 double maxCorrespondenceDistance,
    +
    152 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
    +
    153 double & variance,
    +
    154 int & correspondencesOut,
    +
    155 bool reciprocal);
    +
    157void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    158 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
    +
    159 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
    +
    160 double maxCorrespondenceDistance,
    +
    161 double & variance,
    +
    162 int & correspondencesOut,
    +
    163 bool reciprocal);
    +
    165void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    166 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
    +
    167 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
    168 double maxCorrespondenceDistance,
    169 double & variance,
    170 int & correspondencesOut,
    171 bool reciprocal);
    -
    176void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    -
    177 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
    -
    178 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
    -
    179 double maxCorrespondenceDistance,
    -
    180 double & variance,
    -
    181 int & correspondencesOut,
    -
    182 bool reciprocal);
    -
    183
    -
    209Transform RTABMAP_CORE_EXPORT icp(
    -
    210 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
    -
    211 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
    -
    212 double maxCorrespondenceDistance,
    -
    213 int maximumIterations,
    -
    214 bool & hasConverged,
    -
    215 pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
    -
    216 float epsilon = 0.0f,
    -
    217 bool icp2D = false,
    -
    218 float ransacOutlierRatio = 0.0f,
    -
    219 int * iterationsDone = nullptr);
    -
    228Transform RTABMAP_CORE_EXPORT icp(
    -
    229 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
    -
    230 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
    -
    231 double maxCorrespondenceDistance,
    -
    232 int maximumIterations,
    -
    233 bool & hasConverged,
    -
    234 pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
    -
    235 float epsilon = 0.0f,
    -
    236 bool icp2D = false,
    -
    237 float ransacOutlierRatio = 0.0f,
    -
    238 int * iterationsDone = nullptr);
    -
    239
    -
    265Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    -
    266 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
    -
    267 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
    -
    268 double maxCorrespondenceDistance,
    -
    269 int maximumIterations,
    -
    270 bool & hasConverged,
    -
    271 pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
    -
    272 float epsilon = 0.0f,
    -
    273 bool icp2D = false,
    -
    274 float ransacOutlierRatio = 0.0f,
    -
    275 int * iterationsDone = nullptr);
    -
    284Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    -
    285 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
    -
    286 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
    -
    287 double maxCorrespondenceDistance,
    -
    288 int maximumIterations,
    -
    289 bool & hasConverged,
    -
    290 pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
    -
    291 float epsilon = 0.0f,
    -
    292 bool icp2D = false,
    -
    293 float ransacOutlierRatio = 0.0f,
    -
    294 int * iterationsDone = nullptr);
    -
    295
    -
    296} // namespace util3d
    -
    297} // namespace rtabmap
    -
    298
    -
    299#endif /* UTIL3D_REGISTRATION_H_ */
    +
    199Transform RTABMAP_CORE_EXPORT icp(
    +
    200 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
    +
    201 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
    +
    202 double maxCorrespondenceDistance,
    +
    203 int maximumIterations,
    +
    204 bool & hasConverged,
    +
    205 pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
    +
    206 float epsilon = 0.0f,
    +
    207 bool icp2D = false,
    +
    208 float ransacOutlierRatio = 0.0f,
    +
    209 int * iterationsDone = nullptr);
    +
    218Transform RTABMAP_CORE_EXPORT icp(
    +
    219 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
    +
    220 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
    +
    221 double maxCorrespondenceDistance,
    +
    222 int maximumIterations,
    +
    223 bool & hasConverged,
    +
    224 pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
    +
    225 float epsilon = 0.0f,
    +
    226 bool icp2D = false,
    +
    227 float ransacOutlierRatio = 0.0f,
    +
    228 int * iterationsDone = nullptr);
    +
    229
    +
    255Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    +
    256 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
    +
    257 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
    +
    258 double maxCorrespondenceDistance,
    +
    259 int maximumIterations,
    +
    260 bool & hasConverged,
    +
    261 pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
    +
    262 float epsilon = 0.0f,
    +
    263 bool icp2D = false,
    +
    264 float ransacOutlierRatio = 0.0f,
    +
    265 int * iterationsDone = nullptr);
    +
    274Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    +
    275 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
    +
    276 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
    +
    277 double maxCorrespondenceDistance,
    +
    278 int maximumIterations,
    +
    279 bool & hasConverged,
    +
    280 pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
    +
    281 float epsilon = 0.0f,
    +
    282 bool icp2D = false,
    +
    283 float ransacOutlierRatio = 0.0f,
    +
    284 int * iterationsDone = nullptr);
    +
    285
    +
    286} // namespace util3d
    +
    287} // namespace rtabmap
    +
    288
    +
    289#endif /* UTIL3D_REGISTRATION_H_ */
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::util3d::computeVarianceAndCorrespondences
    void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
    Compute with variance and correspondences of pcl::PointNormal point cloud type.
    rtabmap::util3d::transformFromXYZCorrespondencesSVD
    Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
    Estimates the rigid 3D transformation between two point clouds using SVD.
    diff --git a/preview/pr-1492/api/latest/util3d__surface_8h_source.html b/preview/pr-1492/api/latest/util3d__surface_8h_source.html index 439c1f46..207bd906 100644 --- a/preview/pr-1492/api/latest/util3d__surface_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__surface_8h_source.html @@ -461,198 +461,197 @@ $(document).ready(function(){initNavTree('util3d__surface_8h_source.html',''); i
    395 float normalSmoothingSize = 10.0f,
    396 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    397
    -
    435float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    -
    436 const LaserScan & scan,
    -
    437 const Transform & t = Transform::getIdentity(),
    -
    438 cv::Mat * pcaEigenVectors = 0,
    -
    439 cv::Mat * pcaEigenValues = 0,
    -
    440 bool centered = true);
    -
    445float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    -
    446 const pcl::PointCloud<pcl::Normal> & normals,
    -
    447 const Transform & t = Transform::getIdentity(),
    -
    448 bool is2d = false,
    -
    449 cv::Mat * pcaEigenVectors = 0,
    -
    450 cv::Mat * pcaEigenValues = 0,
    -
    451 bool centered = true);
    -
    456float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    -
    457 const pcl::PointCloud<pcl::PointNormal> & cloud,
    +
    433float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    434 const LaserScan & scan,
    +
    435 const Transform & t = Transform::getIdentity(),
    +
    436 cv::Mat * pcaEigenVectors = 0,
    +
    437 cv::Mat * pcaEigenValues = 0,
    +
    438 bool centered = true);
    +
    440float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    441 const pcl::PointCloud<pcl::Normal> & normals,
    +
    442 const Transform & t = Transform::getIdentity(),
    +
    443 bool is2d = false,
    +
    444 cv::Mat * pcaEigenVectors = 0,
    +
    445 cv::Mat * pcaEigenValues = 0,
    +
    446 bool centered = true);
    +
    448float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    449 const pcl::PointCloud<pcl::PointNormal> & cloud,
    +
    450 const Transform & t = Transform::getIdentity(),
    +
    451 bool is2d = false,
    +
    452 cv::Mat * pcaEigenVectors = 0,
    +
    453 cv::Mat * pcaEigenValues = 0,
    +
    454 bool centered = true);
    +
    456float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    457 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    458 const Transform & t = Transform::getIdentity(),
    459 bool is2d = false,
    460 cv::Mat * pcaEigenVectors = 0,
    461 cv::Mat * pcaEigenValues = 0,
    462 bool centered = true);
    -
    467float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    -
    468 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    -
    469 const Transform & t = Transform::getIdentity(),
    -
    470 bool is2d = false,
    -
    471 cv::Mat * pcaEigenVectors = 0,
    -
    472 cv::Mat * pcaEigenValues = 0,
    -
    473 bool centered = true);
    -
    478float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    -
    479 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    -
    480 const Transform & t = Transform::getIdentity(),
    -
    481 bool is2d = false,
    -
    482 cv::Mat * pcaEigenVectors = 0,
    -
    483 cv::Mat * pcaEigenValues = 0,
    -
    484 bool centered = true);
    -
    485
    -
    486pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(
    -
    487 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    488 float searchRadius = 0.0f,
    -
    489 int polygonialOrder = 2,
    -
    490 int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
    -
    491 float upsamplingRadius = 0.0f, // SAMPLE_LOCAL_PLANE
    -
    492 float upsamplingStep = 0.0f, // SAMPLE_LOCAL_PLANE
    -
    493 int pointDensity = 0, // RANDOM_UNIFORM_DENSITY
    -
    494 float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
    -
    495 int dilationIterations = 0); // VOXEL_GRID_DILATION
    -
    496pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(
    -
    497 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    498 const pcl::IndicesPtr & indices,
    -
    499 float searchRadius = 0.0f,
    -
    500 int polygonialOrder = 2,
    -
    501 int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
    -
    502 float upsamplingRadius = 0.0f, // SAMPLE_LOCAL_PLANE
    -
    503 float upsamplingStep = 0.0f, // SAMPLE_LOCAL_PLANE
    -
    504 int pointDensity = 0, // RANDOM_UNIFORM_DENSITY
    -
    505 float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
    -
    506 int dilationIterations = 0); // VOXEL_GRID_DILATION
    -
    507
    -
    508// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    -
    509RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    510 const LaserScan & scan,
    -
    511 const Eigen::Vector3f & viewpoint,
    -
    512 bool forceGroundNormalsUp);
    -
    513LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    514 const LaserScan & scan,
    -
    515 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    -
    516 float groundNormalsUp = 0.0f);
    -
    517// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    -
    518RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    519 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    520 const Eigen::Vector3f & viewpoint,
    -
    521 bool forceGroundNormalsUp);
    -
    522void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    523 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    524 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    -
    525 float groundNormalsUp = 0.0f);
    -
    526// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    -
    527RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    528 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    529 const Eigen::Vector3f & viewpoint,
    -
    530 bool forceGroundNormalsUp);
    -
    531void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    532 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    533 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    -
    534 float groundNormalsUp = 0.0f);
    -
    535// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    -
    536RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    537 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    538 const Eigen::Vector3f & viewpoint,
    -
    539 bool forceGroundNormalsUp);
    -
    540void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    -
    541 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    542 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    -
    543 float groundNormalsUp = 0.0f);
    -
    544
    -
    545void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    -
    546 const std::map<int, Transform> & poses,
    -
    547 const std::vector<int> & cameraIndices,
    -
    548 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    549 float groundNormalsUp = 0.0f);
    -
    550void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    -
    551 const std::map<int, Transform> & poses,
    -
    552 const std::vector<int> & cameraIndices,
    -
    553 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    554 float groundNormalsUp = 0.0f);
    -
    555void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    -
    556 const std::map<int, Transform> & poses,
    -
    557 const std::vector<int> & cameraIndices,
    -
    558 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    464float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    465 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    +
    466 const Transform & t = Transform::getIdentity(),
    +
    467 bool is2d = false,
    +
    468 cv::Mat * pcaEigenVectors = 0,
    +
    469 cv::Mat * pcaEigenValues = 0,
    +
    470 bool centered = true);
    +
    473pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(
    +
    474 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    475 float searchRadius = 0.0f,
    +
    476 int polygonialOrder = 2,
    +
    477 int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
    +
    478 float upsamplingRadius = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    479 float upsamplingStep = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    480 int pointDensity = 0, // RANDOM_UNIFORM_DENSITY
    +
    481 float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
    +
    482 int dilationIterations = 0); // VOXEL_GRID_DILATION
    +
    483pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(
    +
    484 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    485 const pcl::IndicesPtr & indices,
    +
    486 float searchRadius = 0.0f,
    +
    487 int polygonialOrder = 2,
    +
    488 int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
    +
    489 float upsamplingRadius = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    490 float upsamplingStep = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    491 int pointDensity = 0, // RANDOM_UNIFORM_DENSITY
    +
    492 float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
    +
    493 int dilationIterations = 0); // VOXEL_GRID_DILATION
    +
    494
    +
    495// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    496RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    497 const LaserScan & scan,
    +
    498 const Eigen::Vector3f & viewpoint,
    +
    499 bool forceGroundNormalsUp);
    +
    500LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    501 const LaserScan & scan,
    +
    502 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    503 float groundNormalsUp = 0.0f);
    +
    504// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    505RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    506 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    507 const Eigen::Vector3f & viewpoint,
    +
    508 bool forceGroundNormalsUp);
    +
    509void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    510 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    511 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    512 float groundNormalsUp = 0.0f);
    +
    513// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    514RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    515 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    516 const Eigen::Vector3f & viewpoint,
    +
    517 bool forceGroundNormalsUp);
    +
    518void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    519 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    520 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    521 float groundNormalsUp = 0.0f);
    +
    522// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    523RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    524 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    525 const Eigen::Vector3f & viewpoint,
    +
    526 bool forceGroundNormalsUp);
    +
    527void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    528 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    529 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    530 float groundNormalsUp = 0.0f);
    +
    531
    +
    532void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    533 const std::map<int, Transform> & poses,
    +
    534 const std::vector<int> & cameraIndices,
    +
    535 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    536 float groundNormalsUp = 0.0f);
    +
    537void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    538 const std::map<int, Transform> & poses,
    +
    539 const std::vector<int> & cameraIndices,
    +
    540 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    541 float groundNormalsUp = 0.0f);
    +
    542void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    543 const std::map<int, Transform> & poses,
    +
    544 const std::vector<int> & cameraIndices,
    +
    545 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    546 float groundNormalsUp = 0.0f);
    +
    547
    +
    548void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    549 const std::map<int, Transform> & poses,
    +
    550 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    +
    551 const std::vector<int> & rawCameraIndices,
    +
    552 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    553 float groundNormalsUp = 0.0f);
    +
    554void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    555 const std::map<int, Transform> & poses,
    +
    556 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    +
    557 const std::vector<int> & rawCameraIndices,
    +
    558 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    559 float groundNormalsUp = 0.0f);
    -
    560
    -
    561void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    -
    562 const std::map<int, Transform> & poses,
    -
    563 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    -
    564 const std::vector<int> & rawCameraIndices,
    -
    565 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    566 float groundNormalsUp = 0.0f);
    +
    560void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    561 const std::map<int, Transform> & poses,
    +
    562 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    +
    563 const std::vector<int> & rawCameraIndices,
    +
    564 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    565 float groundNormalsUp = 0.0f);
    +
    566
    567void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    -
    568 const std::map<int, Transform> & poses,
    -
    569 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    -
    570 const std::vector<int> & rawCameraIndices,
    -
    571 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    568 const std::map<int, Transform> & viewpoints,
    +
    569 const LaserScan & rawScan,
    +
    570 const std::vector<int> & viewpointIds,
    +
    571 LaserScan & scan,
    572 float groundNormalsUp = 0.0f);
    -
    573void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    -
    574 const std::map<int, Transform> & poses,
    -
    575 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    -
    576 const std::vector<int> & rawCameraIndices,
    -
    577 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    578 float groundNormalsUp = 0.0f);
    -
    579
    -
    580void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    -
    581 const std::map<int, Transform> & viewpoints,
    -
    582 const LaserScan & rawScan,
    -
    583 const std::vector<int> & viewpointIds,
    -
    584 LaserScan & scan,
    -
    585 float groundNormalsUp = 0.0f);
    -
    586
    -
    587pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor);
    -
    588
    -
    589template<typename pointT>
    -
    590std::vector<pcl::Vertices> normalizePolygonsSide(
    -
    591 const pcl::PointCloud<pointT> & cloud,
    -
    592 const std::vector<pcl::Vertices> & polygons,
    -
    593 const pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));
    -
    594
    -
    595template<typename pointRGBT>
    -
    596void denseMeshPostProcessing(
    -
    597 pcl::PolygonMeshPtr & mesh,
    -
    598 float meshDecimationFactor = 0.0f, // value between 0 and 1, 0=disabled
    -
    599 int maximumPolygons = 0, // 0=disabled
    -
    600 const typename pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), // A RGB point cloud used to transfer colors back to mesh (needed for parameters below)
    -
    601 float transferColorRadius = 0.05f, // <0=disabled, 0=nearest color
    -
    602 bool coloredOutput = true, // Not used anymore, output is colored if transferColorRadius>=0
    -
    603 bool cleanMesh = true, // Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)
    -
    604 int minClusterSize = 50, // Remove small polygon clusters after the mesh has been cleaned (0=disabled)
    -
    605 ProgressState * progressState = 0);
    -
    606
    -
    629bool RTABMAP_CORE_EXPORT intersectRayTriangle(
    -
    630 const Eigen::Vector3f & p,
    -
    631 const Eigen::Vector3f & dir,
    -
    632 const Eigen::Vector3f & v0,
    -
    633 const Eigen::Vector3f & v1,
    -
    634 const Eigen::Vector3f & v2,
    -
    635 float & distance,
    -
    636 Eigen::Vector3f & normal);
    -
    637
    -
    638template<typename PointT>
    -
    639bool intersectRayMesh(
    -
    640 const Eigen::Vector3f & origin,
    -
    641 const Eigen::Vector3f & dir,
    -
    642 const typename pcl::PointCloud<PointT> & cloud,
    -
    643 const std::vector<pcl::Vertices> & polygons,
    -
    644 bool ignoreBackFaces,
    -
    645 float & distance,
    -
    646 Eigen::Vector3f & normal,
    -
    647 int & index);
    +
    573
    +
    574pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor);
    +
    575
    +
    576template<typename pointT>
    +
    577std::vector<pcl::Vertices> normalizePolygonsSide(
    +
    578 const pcl::PointCloud<pointT> & cloud,
    +
    579 const std::vector<pcl::Vertices> & polygons,
    +
    580 const pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));
    +
    581
    +
    582template<typename pointRGBT>
    +
    583void denseMeshPostProcessing(
    +
    584 pcl::PolygonMeshPtr & mesh,
    +
    585 float meshDecimationFactor = 0.0f, // value between 0 and 1, 0=disabled
    +
    586 int maximumPolygons = 0, // 0=disabled
    +
    587 const typename pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), // A RGB point cloud used to transfer colors back to mesh (needed for parameters below)
    +
    588 float transferColorRadius = 0.05f, // <0=disabled, 0=nearest color
    +
    589 bool coloredOutput = true, // Not used anymore, output is colored if transferColorRadius>=0
    +
    590 bool cleanMesh = true, // Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)
    +
    591 int minClusterSize = 50, // Remove small polygon clusters after the mesh has been cleaned (0=disabled)
    +
    592 ProgressState * progressState = 0);
    +
    593
    +
    616bool RTABMAP_CORE_EXPORT intersectRayTriangle(
    +
    617 const Eigen::Vector3f & p,
    +
    618 const Eigen::Vector3f & dir,
    +
    619 const Eigen::Vector3f & v0,
    +
    620 const Eigen::Vector3f & v1,
    +
    621 const Eigen::Vector3f & v2,
    +
    622 float & distance,
    +
    623 Eigen::Vector3f & normal);
    +
    624
    +
    625template<typename PointT>
    +
    626bool intersectRayMesh(
    +
    627 const Eigen::Vector3f & origin,
    +
    628 const Eigen::Vector3f & dir,
    +
    629 const typename pcl::PointCloud<PointT> & cloud,
    +
    630 const std::vector<pcl::Vertices> & polygons,
    +
    631 bool ignoreBackFaces,
    +
    632 float & distance,
    +
    633 Eigen::Vector3f & normal,
    +
    634 int & index);
    +
    635
    +
    636int RTABMAP_CORE_EXPORT saveOBJFile(
    +
    637 const std::string &file_name,
    +
    638 const pcl::TextureMesh &tex_mesh,
    +
    639 unsigned precision = 5);
    +
    640
    +
    641int RTABMAP_CORE_EXPORT saveOBJFile(
    +
    642 const std::string &file_name,
    +
    643 const pcl::PolygonMesh &mesh,
    +
    644 unsigned precision = 5);
    +
    645
    +
    646} // namespace util3d
    +
    647} // namespace rtabmap
    648
    -
    649int RTABMAP_CORE_EXPORT saveOBJFile(
    -
    650 const std::string &file_name,
    -
    651 const pcl::TextureMesh &tex_mesh,
    -
    652 unsigned precision = 5);
    -
    653
    -
    654int RTABMAP_CORE_EXPORT saveOBJFile(
    -
    655 const std::string &file_name,
    -
    656 const pcl::PolygonMesh &mesh,
    -
    657 unsigned precision = 5);
    -
    658
    -
    659} // namespace util3d
    -
    660} // namespace rtabmap
    -
    661
    -
    662#include "rtabmap/core/impl/util3d_surface.hpp"
    -
    663
    -
    664#endif /* UTIL3D_SURFACE_H_ */
    +
    649#include "rtabmap/core/impl/util3d_surface.hpp"
    +
    650
    +
    651#endif /* UTIL3D_SURFACE_H_ */
    rtabmap::DBDriver
    Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
    Definition DBDriver.h:72
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    rtabmap::Memory
    Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
    Definition Memory.h:102
    diff --git a/preview/pr-1492/api/latest/util3d__transforms_8h_source.html b/preview/pr-1492/api/latest/util3d__transforms_8h_source.html index 92868e6a..1ccda260 100644 --- a/preview/pr-1492/api/latest/util3d__transforms_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__transforms_8h_source.html @@ -154,79 +154,77 @@ $(document).ready(function(){initNavTree('util3d__transforms_8h_source.html','')
    76 const LaserScan & laserScan,
    77 const Transform & transform);
    78
    -
    95pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    96 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    -
    97 const Transform & transform);
    -
    102pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    103 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    104 const Transform & transform);
    -
    109pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    110 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    93pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    94 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    95 const Transform & transform);
    +
    97pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    98 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    99 const Transform & transform);
    +
    101pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    102 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    103 const Transform & transform);
    +
    105pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    106 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    107 const Transform & transform);
    +
    109pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    110 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    111 const Transform & transform);
    -
    116pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    117 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    118 const Transform & transform);
    -
    123pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    124 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    125 const Transform & transform);
    -
    130pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    131 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    132 const Transform & transform);
    -
    133
    -
    138pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    139 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    113pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    114 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    115 const Transform & transform);
    +
    116
    +
    118pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    119 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    120 const pcl::IndicesPtr & indices,
    +
    121 const Transform & transform);
    +
    123pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    124 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    125 const pcl::IndicesPtr & indices,
    +
    126 const Transform & transform);
    +
    128pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    129 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    130 const pcl::IndicesPtr & indices,
    +
    131 const Transform & transform);
    +
    133pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    134 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    135 const pcl::IndicesPtr & indices,
    +
    136 const Transform & transform);
    +
    138pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    139 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    140 const pcl::IndicesPtr & indices,
    141 const Transform & transform);
    -
    146pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    147 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    -
    148 const pcl::IndicesPtr & indices,
    -
    149 const Transform & transform);
    -
    154pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    155 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    -
    156 const pcl::IndicesPtr & indices,
    -
    157 const Transform & transform);
    -
    162pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    163 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    -
    164 const pcl::IndicesPtr & indices,
    -
    165 const Transform & transform);
    -
    170pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    171 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    -
    172 const pcl::IndicesPtr & indices,
    -
    173 const Transform & transform);
    -
    178pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    -
    179 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    -
    180 const pcl::IndicesPtr & indices,
    -
    181 const Transform & transform);
    -
    182
    -
    197cv::Point3f RTABMAP_CORE_EXPORT transformPoint(
    -
    198 const cv::Point3f & pt,
    -
    199 const Transform & transform);
    -
    204cv::Point3d RTABMAP_CORE_EXPORT transformPoint(
    -
    205 const cv::Point3d & pt,
    -
    206 const Transform & transform);
    -
    211pcl::PointXYZ RTABMAP_CORE_EXPORT transformPoint(
    -
    212 const pcl::PointXYZ & pt,
    -
    213 const Transform & transform);
    -
    218pcl::PointXYZI RTABMAP_CORE_EXPORT transformPoint(
    -
    219 const pcl::PointXYZI & pt,
    -
    220 const Transform & transform);
    -
    225pcl::PointXYZRGB RTABMAP_CORE_EXPORT transformPoint(
    -
    226 const pcl::PointXYZRGB & pt,
    -
    227 const Transform & transform);
    -
    232pcl::PointNormal RTABMAP_CORE_EXPORT transformPoint(
    -
    233 const pcl::PointNormal & point,
    -
    234 const Transform & transform);
    -
    239pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT transformPoint(
    -
    240 const pcl::PointXYZRGBNormal & point,
    -
    241 const Transform & transform);
    -
    246pcl::PointXYZINormal RTABMAP_CORE_EXPORT transformPoint(
    -
    247 const pcl::PointXYZINormal & point,
    -
    248 const Transform & transform);
    -
    249
    -
    250} // namespace util3d
    -
    251} // namespace rtabmap
    -
    252
    -
    253#endif /* UTIL3D_TRANSFORMS_H_ */
    +
    143pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    144 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    145 const pcl::IndicesPtr & indices,
    +
    146 const Transform & transform);
    +
    161cv::Point3f RTABMAP_CORE_EXPORT transformPoint(
    +
    162 const cv::Point3f & pt,
    +
    163 const Transform & transform);
    +
    165cv::Point3d RTABMAP_CORE_EXPORT transformPoint(
    +
    166 const cv::Point3d & pt,
    +
    167 const Transform & transform);
    +
    169pcl::PointXYZ RTABMAP_CORE_EXPORT transformPoint(
    +
    170 const pcl::PointXYZ & pt,
    +
    171 const Transform & transform);
    +
    173pcl::PointXYZI RTABMAP_CORE_EXPORT transformPoint(
    +
    174 const pcl::PointXYZI & pt,
    +
    175 const Transform & transform);
    +
    177pcl::PointXYZRGB RTABMAP_CORE_EXPORT transformPoint(
    +
    178 const pcl::PointXYZRGB & pt,
    +
    179 const Transform & transform);
    +
    181pcl::PointNormal RTABMAP_CORE_EXPORT transformPoint(
    +
    182 const pcl::PointNormal & point,
    +
    183 const Transform & transform);
    +
    185pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT transformPoint(
    +
    186 const pcl::PointXYZRGBNormal & point,
    +
    187 const Transform & transform);
    +
    189pcl::PointXYZINormal RTABMAP_CORE_EXPORT transformPoint(
    +
    190 const pcl::PointXYZINormal & point,
    +
    191 const Transform & transform);
    +
    194} // namespace util3d
    +
    195} // namespace rtabmap
    +
    196
    +
    197#endif /* UTIL3D_TRANSFORMS_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::util3d::transformPoint
    cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &pt, const Transform &transform)
    Transforms cv::Point3f point type.
    diff --git a/preview/pr-1492/index.html b/preview/pr-1492/index.html index 80cde924..6b4e0ebe 100644 --- a/preview/pr-1492/index.html +++ b/preview/pr-1492/index.html @@ -5,7 +5,7 @@ - + RTAB-Map | Real-Time Appearance-Based Mapping