mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 09:07:47 +08:00
Added more doc/tests
This commit is contained in:
matlabbe
@@ -471,26 +471,89 @@ inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
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}
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/**
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* @defgroup RandomSampling Random Sampling
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* @brief Randomly samples a subset of points from the input point cloud.
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*
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* This function uses the PCL (Point Cloud Library) `RandomSample` filter to randomly
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* select a specified number of points from the input cloud. It ensures the number
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* of samples is greater than zero and returns a new point cloud containing the sampled points.
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*
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* @param cloud A pointer to the input point cloud from which to sample points.
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* @param samples The number of points to randomly sample from the input cloud. Must be > 0.
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* @return A pointer to a new point cloud containing the randomly sampled points.
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*
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* @throws Assertion failure if `samples <= 0`.
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*/
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/**
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* @ingroup RandomSampling
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* @brief Performs random sampling on a point cloud of type `pcl::PointXYZ`.
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*/
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pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT randomSampling(
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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int samples);
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/**
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* @ingroup RandomSampling
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* @brief Performs random sampling on a point cloud of type `pcl::PointNormal`.
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*/
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pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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int samples);
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/**
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* @ingroup RandomSampling
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* @brief Performs random sampling on a point cloud of type `pcl::PointXYZRGB`.
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*/
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT randomSampling(
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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int samples);
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/**
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* @ingroup RandomSampling
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* @brief Performs random sampling on a point cloud of type `pcl::PointXYZRGBNormal`.
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*/
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pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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int samples);
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/**
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* @ingroup RandomSampling
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* @brief Performs random sampling on a point cloud of type `pcl::PointXYZI`.
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*/
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pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT randomSampling(
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const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
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int samples);
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/**
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* @ingroup RandomSampling
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* @brief Performs random sampling on a point cloud of type `pcl::PointXYZINormal`.
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*/
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pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
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const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
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int samples);
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/**
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* @defgroup PassThrough Pass-through Filtering
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* @brief Filters points from the input point cloud using a pass-through filter along a specified axis.
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*
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* This function applies a PCL `PassThrough` filter to include or exclude points in the input cloud
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* that fall within a specified range along a given axis (`x`, `y`, or `z`). It supports optional filtering
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* using a subset of point indices and can perform either inclusive or exclusive filtering depending on the
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* `negative` flag.
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*
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* @param cloud A pointer to the input point cloud to be filtered.
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* @param indices A pointer to the indices specifying which points in the cloud to consider for filtering.
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* Pass `nullptr` to apply the filter to the entire cloud.
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* @param axis The axis (`"x"`, `"y"`, or `"z"`) along which the filtering will be applied.
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* @param min The minimum limit of the pass-through filter (inclusive by default).
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* @param max The maximum limit of the pass-through filter (inclusive by default). Must be greater than `min`.
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* @param negative If `true`, the filter will exclude points within the limits; if `false`, it will include only those within.
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*
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* @return The indices representing the points that passed the filter if indices are
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* passed to the function, or the new filtered point cloud otherwise.
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*
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* @throws Assertion failure if `max <= min` or if `axis` is not `"x"`, `"y"`, or `"z"`.
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*/
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZ` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -498,6 +561,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZRGB` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -505,6 +572,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZI` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -512,6 +583,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointNormal` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -519,6 +594,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZRGBNormal` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -526,6 +605,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZINormal` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -533,36 +616,60 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZ` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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const std::string & axis,
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZRGB` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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const std::string & axis,
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZI` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
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const std::string & axis,
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointNormal` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const std::string & axis,
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZRGBNormal` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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const std::string & axis,
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float min,
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float max,
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bool negative = false);
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/**
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* @ingroup PassThrough
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* @brief Performs pass-through filtering on a point cloud of type `pcl::PointXYZINormal` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
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const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
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const std::string & axis,
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@@ -570,6 +677,31 @@ pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
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float max,
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bool negative = false);
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/**
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* @defgroup CropBox Crop Box Filtering
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* @brief Filters points from a point cloud using a 3D crop box.
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*
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* This function applies a PCL `CropBox` filter to retain or exclude points from the input point cloud
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* that lie within a specified 3D axis-aligned bounding box, optionally transformed by a 3D transformation.
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* The filter can be applied to the entire cloud or limited to a subset via input indices.
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*
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* @param cloud A pointer to the input point cloud to be filtered.
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* @param indices A pointer to a vector of point indices that restricts the filtering to a subset of the cloud.
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* Pass `nullptr` to apply the filter to all points in the cloud.
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* @param min The minimum (corner) boundary of the crop box, as an Eigen 4D vector (x, y, z, _).
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* @param max The maximum (corner) boundary of the crop box, as an Eigen 4D vector (x, y, z, _).
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* @param transform A transformation to be applied to the crop box (not the cloud). If the transform is null
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* or identity, no transformation is applied.
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* @param negative If `true`, the filter will exclude points inside the box; if `false`, it will include only those inside.
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*
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* @return The indices corresponding to the points that passed the filter, or the new filtered point cloud otherwise.
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*
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* @throws Assertion failure if any of `min[x] >= max[x]`, `min[y] >= max[y]`, or `min[z] >= max[z]`.
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*/
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PCLPointCloud2` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PCLPointCloud2::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -577,6 +709,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZ` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -584,6 +720,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointNormal` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -591,6 +731,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZRGB` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -598,6 +742,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZRGBNormal` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -605,6 +753,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZI` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -612,6 +764,10 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZINormal` and returns filtered indices.
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*/
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pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
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const pcl::IndicesPtr & indices,
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@@ -619,36 +775,60 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZ` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
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const Eigen::Vector4f & min,
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointNormal` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
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const Eigen::Vector4f & min,
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZRGB` and returns a new point cloud of the filtered points.
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*/
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pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
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const Eigen::Vector4f & min,
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||||
const Eigen::Vector4f & max,
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||||
const Transform & transform = Transform::getIdentity(),
|
||||
bool negative = false);
|
||||
/**
|
||||
* @ingroup CropBox
|
||||
* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZI` and returns a new point cloud of the filtered points.
|
||||
*/
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||||
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
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||||
const Eigen::Vector4f & min,
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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||||
/**
|
||||
* @ingroup CropBox
|
||||
* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZINormal` and returns a new point cloud of the filtered points.
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||||
*/
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pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
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||||
const Eigen::Vector4f & min,
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const Eigen::Vector4f & max,
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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/**
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* @ingroup CropBox
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||||
* @brief Performs crop box filtering on a point cloud of type `pcl::PointXYZRGBNormal` and returns a new point cloud of the filtered points.
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||||
*/
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||||
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
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const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
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||||
const Eigen::Vector4f & min,
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@@ -656,31 +836,70 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
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const Transform & transform = Transform::getIdentity(),
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bool negative = false);
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//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
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/**
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* @defgroup FrustumFiltering Frustum Filtering
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* @brief Filters points from a point cloud based on a camera frustum.
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||||
*
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||||
* This function uses PCL's `FrustumCulling` filter to include or exclude points from a 3D point cloud
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||||
* that lie within a specified camera frustum. The frustum is defined by vertical and horizontal field of view
|
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* angles, near and far clipping planes, and the camera pose. It can optionally apply filtering on a subset
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* of points specified by indices.
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||||
*
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||||
* @note This assumes the pose includes the optical rotation of the camera (X right, Y down, Z forward).
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||||
*
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||||
* @param cloud A pointer to the input point cloud to be filtered.
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||||
* @param indices A pointer to the subset of indices in the point cloud to consider for filtering.
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||||
* Pass `nullptr` to apply the filter to the full cloud.
|
||||
* @param cameraPose The transformation representing the camera pose in world coordinates.
|
||||
* This defines the position and orientation of the frustum.
|
||||
* @param horizontalFOV The horizontal field of view in degrees (e.g., computed as atan((image width/2)/fx) * 2).
|
||||
* @param verticalFOV The vertical field of view in degrees (e.g., atan((image height/2)/fy) * 2).
|
||||
* @param nearClipPlaneDistance The distance from the camera to the near clipping plane.
|
||||
* @param farClipPlaneDistance The distance from the camera to the far clipping plane.
|
||||
* @param negative If `true`, the filter will exclude points inside the frustum.
|
||||
* If `false`, it will include only those inside.
|
||||
*
|
||||
* @return The indices representing the points that passed the filter, or a new filtered point cloud.
|
||||
*
|
||||
* @throws Assertion failure if:
|
||||
* - `horizontalFOV <= 0` or `verticalFOV <= 0`,
|
||||
* - `farClipPlaneDistance <= nearClipPlaneDistance`,
|
||||
* - `cameraPose` is null.
|
||||
*/
|
||||
/**
|
||||
* @ingroup FrustumFiltering
|
||||
* @brief Performs frustum filtering on a point cloud of type `pcl::PointXYZ` and returns filtered indices.
|
||||
*/
|
||||
pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
const Transform & cameraPose,
|
||||
float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
|
||||
float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
|
||||
float horizontalFOV,
|
||||
float verticalFOV,
|
||||
float nearClipPlaneDistance,
|
||||
float farClipPlaneDistance,
|
||||
bool negative = false);
|
||||
//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
|
||||
/**
|
||||
* @ingroup FrustumFiltering
|
||||
* @brief Performs frustum filtering on a point cloud of type `pcl::PointXYZ` and returns a new point cloud of the filtered points.
|
||||
*/
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
const Transform & cameraPose,
|
||||
float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
|
||||
float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
|
||||
float horizontalFOV,
|
||||
float verticalFOV,
|
||||
float nearClipPlaneDistance,
|
||||
float farClipPlaneDistance,
|
||||
bool negative = false);
|
||||
//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
|
||||
/**
|
||||
* @ingroup FrustumFiltering
|
||||
* @brief Performs frustum filtering on a point cloud of type `pcl::PointXYZRGB` and returns a new point cloud of the filtered points.
|
||||
*/
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
|
||||
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
|
||||
const Transform & cameraPose,
|
||||
float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
|
||||
float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
|
||||
float horizontalFOV,
|
||||
float verticalFOV,
|
||||
float nearClipPlaneDistance,
|
||||
float farClipPlaneDistance,
|
||||
bool negative = false);
|
||||
|
||||
Reference in New Issue
Block a user