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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

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2026-08-02 07:56:38 +00:00
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1083 changed files with 121946 additions and 11202 deletions
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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<div class="headertitle"><div class="title">LocalMapMaker.hpp</div></div>
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@@ -258,7 +275,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordflow">if</span>(indices-&gt;size())</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> {</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> notObstacles = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">util3d::extractIndices</a>(cloud, indices, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> notObstacles = util3d::concatenate(notObstacles, groundIndices);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> notObstacles = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">util3d::concatenate</a>(notObstacles, groundIndices);</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> obstaclesIndices = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">rtabmap::util3d::extractIndices</a>(cloud, notObstacles, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> }</div>
@@ -286,7 +303,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> groundIndices = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordflow">if</span>(farIndices.get())</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> groundIndices = rtabmap::util3d::concatenate(groundIndices, farIndices);</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> groundIndices = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(groundIndices, farIndices);</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> }</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordflow">if</span>(obstaclesIndices-&gt;size())</div>
@@ -302,7 +319,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> obstaclesIndices = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordflow">if</span>(farIndices.get())</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> {</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> obstaclesIndices = rtabmap::util3d::concatenate(obstaclesIndices, farIndices);</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> obstaclesIndices = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(obstaclesIndices, farIndices);</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> }</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> }</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordflow">if</span>(flatObstacles &amp;&amp; (*flatObstacles)-&gt;size())</div>
@@ -318,7 +335,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> *flatObstacles = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordflow">if</span>(farIndices.get())</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> {</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> *flatObstacles = rtabmap::util3d::concatenate(*flatObstacles, farIndices);</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> *flatObstacles = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(*flatObstacles, farIndices);</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> }</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> }</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">&quot;Radius filtering end (%ld ground %ld obstacles)&quot;</span>,</div>
@@ -360,11 +377,16 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="agroup__RadiusFiltering_html_ga21f5957a6c6b8dd2ca7e559ed8a82d08"><div class="ttname"><a href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a></div><div class="ttdeci">pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, float radiusSearch, int minNeighborsInRadius)</div><div class="ttdoc">Radius filtering for point cloud of type pcl::PointXYZ.</div></div>
<div class="ttc" id="agroup__TransformPointcloud_html_ga46b86abad0f4aa2ba7f191da0e07ba69"><div class="ttname"><a href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">rtabmap::util3d::transformPointCloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const Transform &amp;transform)</div><div class="ttdoc">Transforms pcl::PointXYZ point cloud type.</div></div>
<div class="ttc" id="agroup__VoxelFiltering_html_gad8d88a06174857cf53b1dc2cf2310d89"><div class="ttname"><a href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89">rtabmap::util3d::voxelize</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float voxelSize)</div><div class="ttdoc">Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aff3c61a08b0fcad7f1c3f7c847190969"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a></div><div class="ttdeci">pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector&lt; pcl::IndicesPtr &gt; &amp;indices)</div><div class="ttdoc">Concatenates multiple sets of indices into a single index vector.</div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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