mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
Update documentation (latest) 7eb26e1dc2
This commit is contained in:
github-actions[bot]
@@ -1148,12 +1148,12 @@ std::vector< pcl::Vertices > RTABMAP_CORE_EXPORT </td><td class="memI
|
||||
<tr class="memitem:a2784fac7e53765519d25d649712bd809" id="r_a2784fac7e53765519d25d649712bd809"><td class="memItemLeft" align="right" valign="top"><a id="a2784fac7e53765519d25d649712bd809" name="a2784fac7e53765519d25d649712bd809"></a>
|
||||
pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>createMesh</b> (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloudWithNormals, float gp3SearchRadius=0.025, float gp3Mu=2.5, int gp3MaximumNearestNeighbors=100, float gp3MaximumSurfaceAngle=M_PI/4, float gp3MinimumAngle=M_PI/18, float gp3MaximumAngle=2 *M_PI/3, bool gp3NormalConsistency=true)</td></tr>
|
||||
<tr class="separator:a2784fac7e53765519d25d649712bd809"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a893f78656d54c22912e402cff9448561" id="r_a893f78656d54c22912e402cff9448561"><td class="memItemLeft" align="right" valign="top"><a id="a893f78656d54c22912e402cff9448561" name="a893f78656d54c22912e402cff9448561"></a>
|
||||
pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>createTextureMesh</b> (const pcl::PolygonMesh::Ptr &mesh, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::map< int, <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > &cameraModels, const std::map< int, cv::Mat > &cameraDepths, float maxDistance=0.0f, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const <a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a> *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false)</td></tr>
|
||||
<tr class="separator:a893f78656d54c22912e402cff9448561"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ada3d71078fa7644e40151cd2e9a14a4c" id="r_ada3d71078fa7644e40151cd2e9a14a4c"><td class="memItemLeft" align="right" valign="top"><a id="ada3d71078fa7644e40151cd2e9a14a4c" name="ada3d71078fa7644e40151cd2e9a14a4c"></a>
|
||||
pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>createTextureMesh</b> (const pcl::PolygonMesh::Ptr &mesh, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::map< int, std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > > &cameraModels, const std::map< int, cv::Mat > &cameraDepths, float maxDistance=0.0f, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const <a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a> *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false)</td></tr>
|
||||
<tr class="separator:ada3d71078fa7644e40151cd2e9a14a4c"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:affaa4c149b7c7ec7c9d66f3e623639dc" id="r_affaa4c149b7c7ec7c9d66f3e623639dc"><td class="memItemLeft" align="right" valign="top"><a id="affaa4c149b7c7ec7c9d66f3e623639dc" name="affaa4c149b7c7ec7c9d66f3e623639dc"></a>
|
||||
pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>createTextureMesh</b> (const pcl::PolygonMesh::Ptr &mesh, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::map< int, <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > &cameraModels, const std::map< int, cv::Mat > &cameraDepths, float maxDistance=0.0f, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const <a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a> *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false, int numThreads=1)</td></tr>
|
||||
<tr class="separator:affaa4c149b7c7ec7c9d66f3e623639dc"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a51cd58ed9adcc53373589a51b4cfe264" id="r_a51cd58ed9adcc53373589a51b4cfe264"><td class="memItemLeft" align="right" valign="top"><a id="a51cd58ed9adcc53373589a51b4cfe264" name="a51cd58ed9adcc53373589a51b4cfe264"></a>
|
||||
pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><b>createTextureMesh</b> (const pcl::PolygonMesh::Ptr &mesh, const std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > &poses, const std::map< int, std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > > &cameraModels, const std::map< int, cv::Mat > &cameraDepths, float maxDistance=0.0f, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const <a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a> *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false, int numThreads=1)</td></tr>
|
||||
<tr class="separator:a51cd58ed9adcc53373589a51b4cfe264"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a07466d3f99ac7f763ba476f65c99ebb0" id="r_a07466d3f99ac7f763ba476f65c99ebb0"><td class="memItemLeft" align="right" valign="top">void RTABMAP_CORE_EXPORT </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0">cleanTextureMesh</a> (pcl::TextureMesh &textureMesh, int minClusterSize)</td></tr>
|
||||
<tr class="separator:a07466d3f99ac7f763ba476f65c99ebb0"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aad75dcecf51e9a870dc0d4ef29a72215" id="r_aad75dcecf51e9a870dc0d4ef29a72215"><td class="memItemLeft" align="right" valign="top"><a id="aad75dcecf51e9a870dc0d4ef29a72215" name="aad75dcecf51e9a870dc0d4ef29a72215"></a>
|
||||
|
||||
@@ -249,409 +249,411 @@ $(document).ready(function(){initNavTree('util3d__surface_8h_source.html',''); i
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// [left, right, top, bottom] region of interest (in ratios) of the image projected.</span></div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, <span class="comment">// For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.</span></div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span>pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> pcl::PolygonMesh::Ptr & mesh,</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">const</span> std::map<int, cv::Mat> & cameraDepths,</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">float</span> maxDistance = 0.0f, <span class="comment">// max camera distance to polygon to apply texture</span></div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">float</span> maxDepthError = 0.0f, <span class="comment">// maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)</span></div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">float</span> maxAngle = 0.0f, <span class="comment">// maximum angle between camera and face (0=disabled)</span></div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">int</span> minClusterSize = 50, <span class="comment">// minimum size of polygons clusters textured</span></div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// [left, right, top, bottom] region of interest (in ratios) of the image projected.</span></div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, <span class="comment">// For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.</span></div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0"> 171</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0">cleanTextureMesh</a>(</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> pcl::TextureMesh & textureMesh,</div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">int</span> minClusterSize);</div>
|
||||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
|
||||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span>pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT concatenateTextureMeshes(</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keyword">const</span> std::list<pcl::TextureMesh::Ptr> & meshes);</div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT concatenateTextureMaterials(</div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> pcl::TextureMesh & mesh, <span class="keyword">const</span> cv::Size & imageSize, <span class="keywordtype">int</span> textureSize, <span class="keywordtype">int</span> maxTextures, <span class="keywordtype">float</span> & scale, std::vector<bool> * materialsKept=0);</div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> </div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span>std::vector<std::vector<RTABMAP_PCL_INDEX> > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(</div>
|
||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons);</div>
|
||||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span>std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(</div>
|
||||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keyword">const</span> std::vector<std::vector<pcl::Vertices> > & polygons);</div>
|
||||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span>std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT convertPolygonsToPCL(</div>
|
||||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">const</span> std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);</div>
|
||||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span>std::vector<std::vector<pcl::Vertices> > RTABMAP_CORE_EXPORT convertPolygonsToPCL(</div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & tex_polygons);</div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> </div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span>pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT assembleTextureMesh(</div>
|
||||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keyword">const</span> cv::Mat & cloudMat,</div>
|
||||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,</div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords,</div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span>#endif</div>
|
||||
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> cv::Mat & textures,</div>
|
||||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a> = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span>pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT assemblePolygonMesh(</div>
|
||||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keyword">const</span> cv::Mat & cloudMat,</div>
|
||||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">const</span> std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);</div>
|
||||
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> </div>
|
||||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238"> 209</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a>(</div>
|
||||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> pcl::TextureMesh & mesh,</div>
|
||||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keyword">const</span> std::map<int, CameraModel> & calibrations, <span class="comment">// Should match images</span></div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordtype">int</span> textureSize = 4096,</div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">int</span> textureCount = 1,</div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), <span class="comment">// needed for parameters below</span></div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">bool</span> gainCompensation = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">float</span> gainBeta = 10.0f,</div>
|
||||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>, <span class="comment">//Do gain compensation on each channel</span></div>
|
||||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">bool</span> blending = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">int</span> blendingDecimation = 0, <span class="comment">//0=auto depending on projected polygon size and texture size</span></div>
|
||||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">int</span> brightnessContrastRatioLow = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">int</span> brightnessContrastRatioHigh = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">bool</span> exposureFusion = <span class="keyword">false</span>, <span class="comment">//Exposure fusion can be used only with OpenCV3</span></div>
|
||||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
|
||||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blankValue = 255, <span class="comment">//Gray value for blank polygons (without texture)</span></div>
|
||||
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">bool</span> clearVertexColorUnderTexture = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > * gains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B></span></div>
|
||||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > * blendingGains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains></span></div>
|
||||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> std::pair<float, float> * contrastValues = 0); <span class="comment">// Alpha/beta contrast values</span></div>
|
||||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a>(</div>
|
||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> pcl::TextureMesh & mesh,</div>
|
||||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
|
||||
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & calibrations, <span class="comment">// Should match images</span></div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">int</span> textureSize = 4096,</div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">int</span> textureCount = 1,</div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), <span class="comment">// needed for parameters below</span></div>
|
||||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordtype">bool</span> gainCompensation = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">float</span> gainBeta = 10.0f,</div>
|
||||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>, <span class="comment">//Do gain compensation on each channel</span></div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordtype">bool</span> blending = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">int</span> blendingDecimation = 0, <span class="comment">//0=auto depending on projected polygon size and texture size</span></div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">int</span> brightnessContrastRatioLow = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">int</span> brightnessContrastRatioHigh = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">bool</span> exposureFusion = <span class="keyword">false</span>, <span class="comment">//Exposure fusion can be used only with OpenCV3</span></div>
|
||||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
|
||||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blankValue = 255, <span class="comment">//Gray value for blank polygons (without texture)</span></div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">bool</span> clearVertexColorUnderTexture = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > * gains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B></span></div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > * blendingGains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains></span></div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> std::pair<float, float> * contrastValues = 0); <span class="comment">// Alpha/beta contrast values</span></div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> </div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);</div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">int</span> numThreads = 1); <span class="comment">// number of threads used to compute the visible faces of the cameras (1=sequential)</span></div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span>pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">const</span> pcl::PolygonMesh::Ptr & mesh,</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> std::map<int, cv::Mat> & cameraDepths,</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">float</span> maxDistance = 0.0f, <span class="comment">// max camera distance to polygon to apply texture</span></div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">float</span> maxDepthError = 0.0f, <span class="comment">// maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)</span></div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> maxAngle = 0.0f, <span class="comment">// maximum angle between camera and face (0=disabled)</span></div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">int</span> minClusterSize = 50, <span class="comment">// minimum size of polygons clusters textured</span></div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// [left, right, top, bottom] region of interest (in ratios) of the image projected.</span></div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, <span class="comment">// For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.</span></div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">int</span> numThreads = 1); <span class="comment">// number of threads used to compute the visible faces of the cameras (1=sequential)</span></div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0"> 173</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0">cleanTextureMesh</a>(</div>
|
||||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> pcl::TextureMesh & textureMesh,</div>
|
||||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">int</span> minClusterSize);</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span>pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT concatenateTextureMeshes(</div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">const</span> std::list<pcl::TextureMesh::Ptr> & meshes);</div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT concatenateTextureMaterials(</div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> pcl::TextureMesh & mesh, <span class="keyword">const</span> cv::Size & imageSize, <span class="keywordtype">int</span> textureSize, <span class="keywordtype">int</span> maxTextures, <span class="keywordtype">float</span> & scale, std::vector<bool> * materialsKept=0);</div>
|
||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> </div>
|
||||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span>std::vector<std::vector<RTABMAP_PCL_INDEX> > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(</div>
|
||||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons);</div>
|
||||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span>std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(</div>
|
||||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">const</span> std::vector<std::vector<pcl::Vertices> > & polygons);</div>
|
||||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span>std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT convertPolygonsToPCL(</div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keyword">const</span> std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);</div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span>std::vector<std::vector<pcl::Vertices> > RTABMAP_CORE_EXPORT convertPolygonsToPCL(</div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & tex_polygons);</div>
|
||||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> </div>
|
||||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span>pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT assembleTextureMesh(</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keyword">const</span> cv::Mat & cloudMat,</div>
|
||||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keyword">const</span> std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,</div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span>#<span class="keywordflow">if</span> PCL_VERSION_COMPARE(>=, 1, 8, 0)</div>
|
||||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,</div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span>#<span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords,</div>
|
||||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span>#endif</div>
|
||||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> cv::Mat & textures,</div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a> = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> </div>
|
||||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span>pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT assemblePolygonMesh(</div>
|
||||
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keyword">const</span> cv::Mat & cloudMat,</div>
|
||||
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">const</span> std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);</div>
|
||||
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> </div>
|
||||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238"> 211</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a>(</div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> pcl::TextureMesh & mesh,</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keyword">const</span> std::map<int, CameraModel> & calibrations, <span class="comment">// Should match images</span></div>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">int</span> textureSize = 4096,</div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">int</span> textureCount = 1,</div>
|
||||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), <span class="comment">// needed for parameters below</span></div>
|
||||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordtype">bool</span> gainCompensation = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">float</span> gainBeta = 10.0f,</div>
|
||||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>, <span class="comment">//Do gain compensation on each channel</span></div>
|
||||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">bool</span> blending = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">int</span> blendingDecimation = 0, <span class="comment">//0=auto depending on projected polygon size and texture size</span></div>
|
||||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">int</span> brightnessContrastRatioLow = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">int</span> brightnessContrastRatioHigh = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">bool</span> exposureFusion = <span class="keyword">false</span>, <span class="comment">//Exposure fusion can be used only with OpenCV3</span></div>
|
||||
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
|
||||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blankValue = 255, <span class="comment">//Gray value for blank polygons (without texture)</span></div>
|
||||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keywordtype">bool</span> clearVertexColorUnderTexture = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > * gains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B></span></div>
|
||||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > * blendingGains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains></span></div>
|
||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> std::pair<float, float> * contrastValues = 0); <span class="comment">// Alpha/beta contrast values</span></div>
|
||||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a>(</div>
|
||||
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> pcl::TextureMesh & mesh,</div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & calibrations, <span class="comment">// Should match images</span></div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">int</span> textureSize = 4096,</div>
|
||||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordtype">int</span> textureCount = 1,</div>
|
||||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), <span class="comment">// needed for parameters below</span></div>
|
||||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">bool</span> gainCompensation = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordtype">float</span> gainBeta = 10.0f,</div>
|
||||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>, <span class="comment">//Do gain compensation on each channel</span></div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">bool</span> blending = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">int</span> blendingDecimation = 0, <span class="comment">//0=auto depending on projected polygon size and texture size</span></div>
|
||||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">int</span> brightnessContrastRatioLow = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keywordtype">int</span> brightnessContrastRatioHigh = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
|
||||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordtype">bool</span> exposureFusion = <span class="keyword">false</span>, <span class="comment">//Exposure fusion can be used only with OpenCV3</span></div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blankValue = 255, <span class="comment">//Gray value for blank polygons (without texture)</span></div>
|
||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordtype">bool</span> clearVertexColorUnderTexture = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > * gains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B></span></div>
|
||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > * blendingGains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains></span></div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> std::pair<float, float> * contrastValues = 0); <span class="comment">// Alpha/beta contrast values</span></div>
|
||||
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> </div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span><span class="comment">// Use the same method with 22 parameters instead.</span></div>
|
||||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span>RTABMAP_DEPRECATED <span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT multiBandTexturing(</div>
|
||||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keyword">const</span> std::string & outputOBJPath,</div>
|
||||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keyword">const</span> pcl::PCLPointCloud2 & cloud,</div>
|
||||
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels, <span class="comment">// required output of util3d::createTextureMesh()</span></div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
|
||||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels, <span class="comment">// Should match images</span></div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordtype">int</span> textureSize = 8192,</div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keyword">const</span> std::string & textureFormat = <span class="stringliteral">"jpg"</span>, <span class="comment">// png, jpg</span></div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > & gains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> >(), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > & blendingGains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> >(), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keyword">const</span> std::pair<float, float> & contrastValues = std::pair<float, float>(0,0), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> </div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a695eb29e9b2679634edb6b8c36a11942"> 302</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT multiBandTexturing(</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keyword">const</span> std::string & outputOBJPath,</div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keyword">const</span> pcl::PCLPointCloud2 & cloud,</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels,</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images,</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0,</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0,</div>
|
||||
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> textureSize = 8192,</div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> textureDownscale = 2,</div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keyword">const</span> std::string & nbContrib = <span class="stringliteral">"1 5 10 0"</span>,</div>
|
||||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keyword">const</span> std::string & textureFormat = <span class="stringliteral">"jpg"</span>,</div>
|
||||
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > & gains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> >(),</div>
|
||||
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > & blendingGains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> >(),</div>
|
||||
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keyword">const</span> std::pair<float, float> & contrastValues = std::pair<float, float>(0,0),</div>
|
||||
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> unwrapMethod = 0,</div>
|
||||
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordtype">bool</span> fillHoles = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> padding = 5,</div>
|
||||
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keywordtype">double</span> bestScoreThreshold = 0.1,</div>
|
||||
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keywordtype">double</span> angleHardThreshold = 90.0,</div>
|
||||
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keywordtype">bool</span> forceVisibleByAllVertices = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> </div>
|
||||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span>cv::Mat RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">const</span> cv::Mat & laserScan,</div>
|
||||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keywordtype">int</span> searchK,</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordtype">float</span> searchRadius);</div>
|
||||
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> </div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals2D(</div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals2D(</div>
|
||||
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(</div>
|
||||
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(</div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> </div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordtype">float</span> maxDepthChangeFactor = 0.02f,</div>
|
||||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordtype">float</span> normalSmoothingSize = 10.0f,</div>
|
||||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(</div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keywordtype">float</span> maxDepthChangeFactor = 0.02f,</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keywordtype">float</span> normalSmoothingSize = 10.0f,</div>
|
||||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> </div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58"> 433</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga5a68422282e99f8d05c0821eac491895"> 440</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals,</div>
|
||||
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga13a6d7525494d390041c9ef0337e02dd"> 448</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud,</div>
|
||||
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga6e03130bf686d43ea527dc8e6f5cce55"> 456</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud,</div>
|
||||
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga3e024c51a6a49d1c8e6b64c230148137"> 464</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,</div>
|
||||
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(</div>
|
||||
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> <span class="keywordtype">int</span> polygonialOrder = 2,</div>
|
||||
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keywordtype">int</span> upsamplingMethod = 0, <span class="comment">// NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keywordtype">float</span> upsamplingRadius = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordtype">float</span> upsamplingStep = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="keywordtype">int</span> pointDensity = 0, <span class="comment">// RANDOM_UNIFORM_DENSITY</span></div>
|
||||
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordtype">float</span> dilationVoxelSize = 1.0f, <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="keywordtype">int</span> dilationIterations = 0); <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(</div>
|
||||
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keywordtype">int</span> polygonialOrder = 2,</div>
|
||||
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keywordtype">int</span> upsamplingMethod = 0, <span class="comment">// NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">float</span> upsamplingRadius = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <span class="keywordtype">float</span> upsamplingStep = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">int</span> pointDensity = 0, <span class="comment">// RANDOM_UNIFORM_DENSITY</span></div>
|
||||
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keywordtype">float</span> dilationVoxelSize = 1.0f, <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="keywordtype">int</span> dilationIterations = 0); <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div>
|
||||
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span>RTABMAP_DEPRECATED <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> </div>
|
||||
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <span class="keyword">const</span> std::vector<int> & cameraIndices,</div>
|
||||
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <span class="keyword">const</span> std::vector<int> & cameraIndices,</div>
|
||||
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="keyword">const</span> std::vector<int> & cameraIndices,</div>
|
||||
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> </div>
|
||||
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,</div>
|
||||
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keyword">const</span> std::vector<int> & rawCameraIndices,</div>
|
||||
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,</div>
|
||||
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> <span class="keyword">const</span> std::vector<int> & rawCameraIndices,</div>
|
||||
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,</div>
|
||||
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <span class="keyword">const</span> std::vector<int> & rawCameraIndices,</div>
|
||||
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> </div>
|
||||
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <span class="keyword">const</span> std::map<int, Transform> & viewpoints,</div>
|
||||
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & rawScan,</div>
|
||||
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> <span class="keyword">const</span> std::vector<int> & viewpointIds,</div>
|
||||
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> </div>
|
||||
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span>pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT meshDecimation(<span class="keyword">const</span> pcl::PolygonMesh::Ptr & mesh, <span class="keywordtype">float</span> factor);</div>
|
||||
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);</div>
|
||||
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> </div>
|
||||
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span><span class="comment">// Use the same method with 22 parameters instead.</span></div>
|
||||
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span>RTABMAP_DEPRECATED <span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT multiBandTexturing(</div>
|
||||
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keyword">const</span> std::string & outputOBJPath,</div>
|
||||
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keyword">const</span> pcl::PCLPointCloud2 & cloud,</div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels, <span class="comment">// required output of util3d::createTextureMesh()</span></div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels, <span class="comment">// Should match images</span></div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keywordtype">int</span> textureSize = 8192,</div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keyword">const</span> std::string & textureFormat = <span class="stringliteral">"jpg"</span>, <span class="comment">// png, jpg</span></div>
|
||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > & gains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> >(), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > & blendingGains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> >(), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">const</span> std::pair<float, float> & contrastValues = std::pair<float, float>(0,0), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> </div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a695eb29e9b2679634edb6b8c36a11942"> 304</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT multiBandTexturing(</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> std::string & outputOBJPath,</div>
|
||||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">const</span> pcl::PCLPointCloud2 & cloud,</div>
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels,</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images,</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0,</div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0,</div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> textureSize = 8192,</div>
|
||||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> textureDownscale = 2,</div>
|
||||
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keyword">const</span> std::string & nbContrib = <span class="stringliteral">"1 5 10 0"</span>,</div>
|
||||
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keyword">const</span> std::string & textureFormat = <span class="stringliteral">"jpg"</span>,</div>
|
||||
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > & gains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> >(),</div>
|
||||
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > & blendingGains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> >(),</div>
|
||||
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keyword">const</span> std::pair<float, float> & contrastValues = std::pair<float, float>(0,0),</div>
|
||||
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> unwrapMethod = 0,</div>
|
||||
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keywordtype">bool</span> fillHoles = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> padding = 5,</div>
|
||||
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keywordtype">double</span> bestScoreThreshold = 0.1,</div>
|
||||
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordtype">double</span> angleHardThreshold = 90.0,</div>
|
||||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keywordtype">bool</span> forceVisibleByAllVertices = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> </div>
|
||||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span>cv::Mat RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keyword">const</span> cv::Mat & laserScan,</div>
|
||||
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">int</span> searchK,</div>
|
||||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">float</span> searchRadius);</div>
|
||||
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(</div>
|
||||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> <span class="keywordtype">int</span> searchK = 20,</div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> </div>
|
||||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals2D(</div>
|
||||
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals2D(</div>
|
||||
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(</div>
|
||||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(</div>
|
||||
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keywordtype">int</span> searchK = 5,</div>
|
||||
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> </div>
|
||||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(</div>
|
||||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keywordtype">float</span> maxDepthChangeFactor = 0.02f,</div>
|
||||
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordtype">float</span> normalSmoothingSize = 10.0f,</div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span>pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(</div>
|
||||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keywordtype">float</span> maxDepthChangeFactor = 0.02f,</div>
|
||||
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordtype">float</span> normalSmoothingSize = 10.0f,</div>
|
||||
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keyword">const</span> Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));</div>
|
||||
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> </div>
|
||||
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58"> 435</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga5a68422282e99f8d05c0821eac491895"> 442</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals,</div>
|
||||
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga13a6d7525494d390041c9ef0337e02dd"> 450</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud,</div>
|
||||
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga6e03130bf686d43ea527dc8e6f5cce55"> 458</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud,</div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"><a class="line" href="group__ComputeNormalsComplexity.html#ga3e024c51a6a49d1c8e6b64c230148137"> 466</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">computeNormalsComplexity</a>(</div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,</div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & t = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <span class="keywordtype">bool</span> is2d = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> cv::Mat * pcaEigenVectors = 0,</div>
|
||||
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> cv::Mat * pcaEigenValues = 0,</div>
|
||||
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <span class="keywordtype">bool</span> centered = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(</div>
|
||||
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keywordtype">int</span> polygonialOrder = 2,</div>
|
||||
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordtype">int</span> upsamplingMethod = 0, <span class="comment">// NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="keywordtype">float</span> upsamplingRadius = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordtype">float</span> upsamplingStep = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="keywordtype">int</span> pointDensity = 0, <span class="comment">// RANDOM_UNIFORM_DENSITY</span></div>
|
||||
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">float</span> dilationVoxelSize = 1.0f, <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="keywordtype">int</span> dilationIterations = 0); <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(</div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keywordtype">float</span> searchRadius = 0.0f,</div>
|
||||
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">int</span> polygonialOrder = 2,</div>
|
||||
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <span class="keywordtype">int</span> upsamplingMethod = 0, <span class="comment">// NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">float</span> upsamplingRadius = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keywordtype">float</span> upsamplingStep = 0.0f, <span class="comment">// SAMPLE_LOCAL_PLANE</span></div>
|
||||
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="keywordtype">int</span> pointDensity = 0, <span class="comment">// RANDOM_UNIFORM_DENSITY</span></div>
|
||||
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> <span class="keywordtype">float</span> dilationVoxelSize = 1.0f, <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="keywordtype">int</span> dilationIterations = 0); <span class="comment">// VOXEL_GRID_DILATION</span></div>
|
||||
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> </div>
|
||||
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span>RTABMAP_DEPRECATED <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span><span class="comment">// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.</span></div>
|
||||
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint,</div>
|
||||
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> <span class="keywordtype">bool</span> forceGroundNormalsUp);</div>
|
||||
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(</div>
|
||||
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <span class="keyword">const</span> Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),</div>
|
||||
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> </div>
|
||||
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <span class="keyword">const</span> std::vector<int> & cameraIndices,</div>
|
||||
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keyword">const</span> std::vector<int> & cameraIndices,</div>
|
||||
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keyword">const</span> std::vector<int> & cameraIndices,</div>
|
||||
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> </div>
|
||||
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,</div>
|
||||
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keyword">const</span> std::vector<int> & rawCameraIndices,</div>
|
||||
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,</div>
|
||||
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="keyword">const</span> std::vector<int> & rawCameraIndices,</div>
|
||||
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,</div>
|
||||
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keyword">const</span> std::vector<int> & rawCameraIndices,</div>
|
||||
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> </div>
|
||||
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(</div>
|
||||
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> <span class="keyword">const</span> std::map<int, Transform> & viewpoints,</div>
|
||||
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & rawScan,</div>
|
||||
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keyword">const</span> std::vector<int> & viewpointIds,</div>
|
||||
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan,</div>
|
||||
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f);</div>
|
||||
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> </div>
|
||||
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span><span class="keyword">template</span><<span class="keyword">typename</span> po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span>std::vector<pcl::Vertices> normalizePolygonsSide(</div>
|
||||
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> <span class="keyword">const</span> pcl::PointCloud<pointT> & cloud,</div>
|
||||
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> <span class="keyword">const</span> pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));</div>
|
||||
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> </div>
|
||||
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span><span class="keyword">template</span><<span class="keyword">typename</span> po<span class="keywordtype">int</span>RGBT></div>
|
||||
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span><span class="keywordtype">void</span> denseMeshPostProcessing(</div>
|
||||
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> pcl::PolygonMeshPtr & mesh,</div>
|
||||
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="keywordtype">float</span> meshDecimationFactor = 0.0f, <span class="comment">// value between 0 and 1, 0=disabled</span></div>
|
||||
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="keywordtype">int</span> maximumPolygons = 0, <span class="comment">// 0=disabled</span></div>
|
||||
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), <span class="comment">// A RGB point cloud used to transfer colors back to mesh (needed for parameters below)</span></div>
|
||||
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <span class="keywordtype">float</span> transferColorRadius = 0.05f, <span class="comment">// <0=disabled, 0=nearest color</span></div>
|
||||
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="keywordtype">bool</span> coloredOutput = <span class="keyword">true</span>, <span class="comment">// Not used anymore, output is colored if transferColorRadius>=0</span></div>
|
||||
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> <span class="keywordtype">bool</span> cleanMesh = <span class="keyword">true</span>, <span class="comment">// Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)</span></div>
|
||||
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> <span class="keywordtype">int</span> minClusterSize = 50, <span class="comment">// Remove small polygon clusters after the mesh has been cleaned (0=disabled)</span></div>
|
||||
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * progressState = 0);</div>
|
||||
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> </div>
|
||||
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc"> 616</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc">intersectRayTriangle</a>(</div>
|
||||
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> <span class="keyword">const</span> Eigen::Vector3f & p,</div>
|
||||
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="keyword">const</span> Eigen::Vector3f & dir,</div>
|
||||
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <span class="keyword">const</span> Eigen::Vector3f & v0,</div>
|
||||
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <span class="keyword">const</span> Eigen::Vector3f & v1,</div>
|
||||
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="keyword">const</span> Eigen::Vector3f & v2,</div>
|
||||
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="keywordtype">float</span> & distance,</div>
|
||||
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> Eigen::Vector3f & normal);</div>
|
||||
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> </div>
|
||||
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span><span class="keywordtype">bool</span> intersectRayMesh(</div>
|
||||
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> <span class="keyword">const</span> Eigen::Vector3f & origin,</div>
|
||||
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> <span class="keyword">const</span> Eigen::Vector3f & dir,</div>
|
||||
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT> & cloud,</div>
|
||||
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="keywordtype">bool</span> ignoreBackFaces,</div>
|
||||
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> <span class="keywordtype">float</span> & distance,</div>
|
||||
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> Eigen::Vector3f & normal,</div>
|
||||
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> <span class="keywordtype">int</span> & index);</div>
|
||||
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> </div>
|
||||
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT saveOBJFile(</div>
|
||||
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keyword">const</span> std::string &file_name,</div>
|
||||
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> <span class="keyword">const</span> pcl::TextureMesh &tex_mesh,</div>
|
||||
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> <span class="keywordtype">unsigned</span> precision = 5);</div>
|
||||
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> </div>
|
||||
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT saveOBJFile(</div>
|
||||
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> <span class="keyword">const</span> std::string &file_name,</div>
|
||||
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> <span class="keyword">const</span> pcl::PolygonMesh &mesh,</div>
|
||||
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <span class="keywordtype">unsigned</span> precision = 5);</div>
|
||||
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> </div>
|
||||
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span>} <span class="comment">// namespace util3d</span></div>
|
||||
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span> </div>
|
||||
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span><span class="preprocessor">#include "rtabmap/core/impl/util3d_surface.hpp"</span></div>
|
||||
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span>pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT meshDecimation(<span class="keyword">const</span> pcl::PolygonMesh::Ptr & mesh, <span class="keywordtype">float</span> factor);</div>
|
||||
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> </div>
|
||||
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span><span class="keyword">template</span><<span class="keyword">typename</span> po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span>std::vector<pcl::Vertices> normalizePolygonsSide(</div>
|
||||
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> <span class="keyword">const</span> pcl::PointCloud<pointT> & cloud,</div>
|
||||
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> <span class="keyword">const</span> pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));</div>
|
||||
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> </div>
|
||||
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span><span class="keyword">template</span><<span class="keyword">typename</span> po<span class="keywordtype">int</span>RGBT></div>
|
||||
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span><span class="keywordtype">void</span> denseMeshPostProcessing(</div>
|
||||
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> pcl::PolygonMeshPtr & mesh,</div>
|
||||
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="keywordtype">float</span> meshDecimationFactor = 0.0f, <span class="comment">// value between 0 and 1, 0=disabled</span></div>
|
||||
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <span class="keywordtype">int</span> maximumPolygons = 0, <span class="comment">// 0=disabled</span></div>
|
||||
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), <span class="comment">// A RGB point cloud used to transfer colors back to mesh (needed for parameters below)</span></div>
|
||||
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> <span class="keywordtype">float</span> transferColorRadius = 0.05f, <span class="comment">// <0=disabled, 0=nearest color</span></div>
|
||||
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> <span class="keywordtype">bool</span> coloredOutput = <span class="keyword">true</span>, <span class="comment">// Not used anymore, output is colored if transferColorRadius>=0</span></div>
|
||||
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> <span class="keywordtype">bool</span> cleanMesh = <span class="keyword">true</span>, <span class="comment">// Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)</span></div>
|
||||
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> <span class="keywordtype">int</span> minClusterSize = 50, <span class="comment">// Remove small polygon clusters after the mesh has been cleaned (0=disabled)</span></div>
|
||||
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * progressState = 0);</div>
|
||||
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> </div>
|
||||
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc"> 618</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc">intersectRayTriangle</a>(</div>
|
||||
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <span class="keyword">const</span> Eigen::Vector3f & p,</div>
|
||||
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <span class="keyword">const</span> Eigen::Vector3f & dir,</div>
|
||||
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="keyword">const</span> Eigen::Vector3f & v0,</div>
|
||||
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="keyword">const</span> Eigen::Vector3f & v1,</div>
|
||||
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <span class="keyword">const</span> Eigen::Vector3f & v2,</div>
|
||||
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> <span class="keywordtype">float</span> & distance,</div>
|
||||
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> Eigen::Vector3f & normal);</div>
|
||||
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> </div>
|
||||
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span><span class="keywordtype">bool</span> intersectRayMesh(</div>
|
||||
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> <span class="keyword">const</span> Eigen::Vector3f & origin,</div>
|
||||
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <span class="keyword">const</span> Eigen::Vector3f & dir,</div>
|
||||
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT> & cloud,</div>
|
||||
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> <span class="keywordtype">bool</span> ignoreBackFaces,</div>
|
||||
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> <span class="keywordtype">float</span> & distance,</div>
|
||||
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> Eigen::Vector3f & normal,</div>
|
||||
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> <span class="keywordtype">int</span> & index);</div>
|
||||
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> </div>
|
||||
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT saveOBJFile(</div>
|
||||
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> <span class="keyword">const</span> std::string &file_name,</div>
|
||||
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> <span class="keyword">const</span> pcl::TextureMesh &tex_mesh,</div>
|
||||
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <span class="keywordtype">unsigned</span> precision = 5);</div>
|
||||
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> </div>
|
||||
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT saveOBJFile(</div>
|
||||
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <span class="keyword">const</span> std::string &file_name,</div>
|
||||
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> <span class="keyword">const</span> pcl::PolygonMesh &mesh,</div>
|
||||
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> <span class="keywordtype">unsigned</span> precision = 5);</div>
|
||||
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> </div>
|
||||
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span>} <span class="comment">// namespace util3d</span></div>
|
||||
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> </div>
|
||||
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_SURFACE_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span><span class="preprocessor">#include "rtabmap/core/impl/util3d_surface.hpp"</span></div>
|
||||
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> </div>
|
||||
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_SURFACE_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html">rtabmap::DBDriver</a></div><div class="ttdoc">Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00071">DBDriver.h:72</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
|
||||
|
||||
Reference in New Issue
Block a user