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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
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<td id="projectalign">
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</td>
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</tr>
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</tbody>
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="headertitle"><div class="title">util3d.h</div></div>
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@@ -148,340 +165,340 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span>};</div>
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</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span>{</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span>cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span>cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT rgbdFromCloud(</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span>pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">bool</span> smoothing,</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">float</span> depthErrorRatio = 0.02f);</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span>Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy);</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(</div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keyword">const</span> cv::Mat & imageDepthConfidence,</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span>{</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b"> 93</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b">rgbFromCloud</a>(</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d"> 111</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d">depthFromCloud</a>(</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76"> 130</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76">rgbdFromCloud</a>(</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5"> 155</a></span>pcl::PointXYZ RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5">projectDepthTo3D</a>(</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">bool</span> smoothing,</div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">float</span> depthErrorRatio = 0.02f);</div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> </div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f"> 179</a></span>Eigen::Vector3f RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f">projectDepthTo3DRay</a>(</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy);</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249"> 207</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">cloudFromDepth</a>(</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a9fa0222fe9a7f74fcfa4c04c0c2dd532"> 230</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">cloudFromDepth</a>(</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0,</div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
|
||||
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(</div>
|
||||
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
|
||||
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(</div>
|
||||
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
|
||||
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(</div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
|
||||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">const</span> cv::Mat & imageDepthConfidence,</div>
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0, <span class="comment">// 0=low, 100=high</span></div>
|
||||
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
|
||||
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(</div>
|
||||
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
|
||||
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
|
||||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(</div>
|
||||
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> </div>
|
||||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(</div>
|
||||
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">const</span> cv::Mat & imageLeft,</div>
|
||||
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keyword">const</span> cv::Mat & imageRight,</div>
|
||||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> std::vector<int> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">const</span> ParametersMap & parameters = ParametersMap());</div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> </div>
|
||||
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span>std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromSensorData(</div>
|
||||
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> std::vector<pcl::IndicesPtr> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
|
||||
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
|
||||
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(</div>
|
||||
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> std::vector<int> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
|
||||
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> </div>
|
||||
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span>std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(</div>
|
||||
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> std::vector<pcl::IndicesPtr > * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
|
||||
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> </div>
|
||||
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(</div>
|
||||
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> std::vector<int> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
|
||||
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> </div>
|
||||
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImage(</div>
|
||||
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
|
||||
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> <span class="keywordtype">float</span> fx,</div>
|
||||
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> <span class="keywordtype">float</span> fy,</div>
|
||||
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> <span class="keywordtype">float</span> cx,</div>
|
||||
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <span class="keywordtype">float</span> cy,</div>
|
||||
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="keywordtype">float</span> maxDepth = 0,</div>
|
||||
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> <span class="keywordtype">float</span> minDepth = 0,</div>
|
||||
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
|
||||
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImages(</div>
|
||||
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> <span class="keyword">const</span> cv::Mat & depthImages,</div>
|
||||
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
|
||||
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keywordtype">float</span> maxDepth,</div>
|
||||
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> <span class="keywordtype">float</span> minDepth);</div>
|
||||
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> </div>
|
||||
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga16a77d267dc60b14b5bf48ca52547bae"> 689</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75f96d3e3d5d62ce6a9d16a1753c775a"> 694</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga7a88e45c9bab555c6d1efd64be765c4d"> 699</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9470f081e8de0a34550e91e2f74bacd5"> 704</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gad5764a399e3a8a5586b94490e0cd7d15"> 709</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9933faab17e984b2789926abd2ba0caf"> 714</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaa98ccb732868f5ab4e91cd6f82602852"> 719</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gadeb1f66fd39cfcb39c2f152c36b3be62"> 724</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga51c683da166a9fcf7e7bf6c834ca03a4"> 729</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00734" name="l00734"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga655a37385c6ca40ec99e76045c04040b"> 734</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00739" name="l00739"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga04169bd4b4488350b08709af9581b289"> 739</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75bf455d6cc912b4ee18785de71c50a5"> 744</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaf509a7c65e02d8690c971294c43bda47"> 749</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9344c712c57af92d7612b0af76226f06"> 754</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga79e460158de1d3934abcd8fad488fb24"> 759</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gafb165d79d23620b42af0653ae045fb91"> 764</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gab2d54043075851c5e23f487001adacb6"> 769</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"> 770</span> </div>
|
||||
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud2T></div>
|
||||
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> PointCloud2T & cloud, <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>, <span class="keywordtype">bool</span> is2D = <span class="keyword">false</span>, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> </div>
|
||||
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e"> 802</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00807" name="l00807"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0898d06b1639f58ed92b66f311e786aa"> 807</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00812" name="l00812"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac278e2f3f54ed49b5d3a6afa606a466b"> 812</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gae4e7c218a24fb8d5c3fd7143462d3070"> 817</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00822" name="l00822"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga6cb623d1b3ce9c244a7d4ef346a721db"> 822</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00827" name="l00827"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0354b321c4196232fb1183c3a322b5f8"> 827</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00828" name="l00828"></a><span class="lineno"> 828</span> </div>
|
||||
<div class="line"><a id="l00845" name="l00845"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c"> 845</a></span>pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c">laserScanToPointCloud2</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00846" name="l00846"></a><span class="lineno"> 846</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00847" name="l00847"></a><span class="lineno"> 847</span>pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00848" name="l00848"></a><span class="lineno"> 848</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
|
||||
<div class="line"><a id="l00849" name="l00849"></a><span class="lineno"> 849</span>pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">float</span> intensity = 0.0f);</div>
|
||||
<div class="line"><a id="l00850" name="l00850"></a><span class="lineno"> 850</span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
|
||||
<div class="line"><a id="l00851" name="l00851"></a><span class="lineno"> 851</span>pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">float</span> intensity = 0.0f);</div>
|
||||
<div class="line"><a id="l00852" name="l00852"></a><span class="lineno"> 852</span> </div>
|
||||
<div class="line"><a id="l00853" name="l00853"></a><span class="lineno"> 853</span> </div>
|
||||
<div class="line"><a id="l00854" name="l00854"></a><span class="lineno"> 854</span>pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index);</div>
|
||||
<div class="line"><a id="l00855" name="l00855"></a><span class="lineno"> 855</span>pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index);</div>
|
||||
<div class="line"><a id="l00856" name="l00856"></a><span class="lineno"> 856</span>pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
|
||||
<div class="line"><a id="l00857" name="l00857"></a><span class="lineno"> 857</span>pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">float</span> intensity);</div>
|
||||
<div class="line"><a id="l00858" name="l00858"></a><span class="lineno"> 858</span>pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b);</div>
|
||||
<div class="line"><a id="l00859" name="l00859"></a><span class="lineno"> 859</span>pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">float</span> intensity);</div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">cloudFromDepth</a>(</div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keyword">const</span> cv::Mat & imageDepthConfidence,</div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0,</div>
|
||||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
|
||||
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c"> 272</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">cloudFromDepthRGB</a>(</div>
|
||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
|
||||
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
|
||||
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a64b369873a01960576cb34aab4c5a319"> 303</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">cloudFromDepthRGB</a>(</div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
|
||||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">cloudFromDepthRGB</a>(</div>
|
||||
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keyword">const</span> cv::Mat & imageDepthConfidence,</div>
|
||||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0, <span class="comment">// 0=low, 100=high</span></div>
|
||||
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> </div>
|
||||
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71"> 351</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71">cloudFromDisparity</a>(</div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> </div>
|
||||
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e"> 392</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e">cloudFromDisparityRGB</a>(</div>
|
||||
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
|
||||
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> std::vector<int> * validIndices = 0);</div>
|
||||
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
|
||||
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc"> 437</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc">cloudFromStereoImages</a>(</div>
|
||||
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">const</span> cv::Mat & imageLeft,</div>
|
||||
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">const</span> cv::Mat & imageRight,</div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
|
||||
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> std::vector<int> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> </div>
|
||||
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa"> 485</a></span>std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa">cloudsFromSensorData</a>(</div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> std::vector<pcl::IndicesPtr> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
|
||||
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div>
|
||||
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66"> 523</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66">cloudFromSensorData</a>(</div>
|
||||
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> std::vector<int> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
|
||||
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> </div>
|
||||
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e"> 565</a></span>std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e">cloudsRGBFromSensorData</a>(</div>
|
||||
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> std::vector<pcl::IndicesPtr > * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
|
||||
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> </div>
|
||||
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745"> 601</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745">cloudRGBFromSensorData</a>(</div>
|
||||
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
|
||||
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
||||
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
|
||||
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> std::vector<int> * validIndices = 0,</div>
|
||||
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
|
||||
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
|
||||
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> </div>
|
||||
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558"> 633</a></span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558">laserScanFromDepthImage</a>(</div>
|
||||
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
|
||||
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> <span class="keywordtype">float</span> fx,</div>
|
||||
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> <span class="keywordtype">float</span> fy,</div>
|
||||
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keywordtype">float</span> cx,</div>
|
||||
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> <span class="keywordtype">float</span> cy,</div>
|
||||
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> <span class="keywordtype">float</span> maxDepth = 0,</div>
|
||||
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> <span class="keywordtype">float</span> minDepth = 0,</div>
|
||||
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
|
||||
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0"> 661</a></span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0">laserScanFromDepthImages</a>(</div>
|
||||
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> <span class="keyword">const</span> cv::Mat & depthImages,</div>
|
||||
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
|
||||
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> <span class="keywordtype">float</span> maxDepth,</div>
|
||||
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keywordtype">float</span> minDepth);</div>
|
||||
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> </div>
|
||||
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga16a77d267dc60b14b5bf48ca52547bae"> 697</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75f96d3e3d5d62ce6a9d16a1753c775a"> 702</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga7a88e45c9bab555c6d1efd64be765c4d"> 707</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9470f081e8de0a34550e91e2f74bacd5"> 712</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gad5764a399e3a8a5586b94490e0cd7d15"> 717</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9933faab17e984b2789926abd2ba0caf"> 722</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaa98ccb732868f5ab4e91cd6f82602852"> 727</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gadeb1f66fd39cfcb39c2f152c36b3be62"> 732</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga51c683da166a9fcf7e7bf6c834ca03a4"> 737</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga655a37385c6ca40ec99e76045c04040b"> 742</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga04169bd4b4488350b08709af9581b289"> 747</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75bf455d6cc912b4ee18785de71c50a5"> 752</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaf509a7c65e02d8690c971294c43bda47"> 757</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9344c712c57af92d7612b0af76226f06"> 762</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga79e460158de1d3934abcd8fad488fb24"> 767</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gafb165d79d23620b42af0653ae045fb91"> 772</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gab2d54043075851c5e23f487001adacb6"> 777</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"> 778</span> </div>
|
||||
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud2T></div>
|
||||
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"> 784</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> PointCloud2T & cloud, <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>, <span class="keywordtype">bool</span> is2D = <span class="keyword">false</span>, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> </div>
|
||||
<div class="line"><a id="l00810" name="l00810"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e"> 810</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0898d06b1639f58ed92b66f311e786aa"> 815</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00820" name="l00820"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac278e2f3f54ed49b5d3a6afa606a466b"> 820</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00825" name="l00825"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gae4e7c218a24fb8d5c3fd7143462d3070"> 825</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00830" name="l00830"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga6cb623d1b3ce9c244a7d4ef346a721db"> 830</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00835" name="l00835"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0354b321c4196232fb1183c3a322b5f8"> 835</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00836" name="l00836"></a><span class="lineno"> 836</span> </div>
|
||||
<div class="line"><a id="l00853" name="l00853"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c"> 853</a></span>pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c">laserScanToPointCloud2</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00854" name="l00854"></a><span class="lineno"> 854</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00855" name="l00855"></a><span class="lineno"> 855</span>pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
|
||||
<div class="line"><a id="l00856" name="l00856"></a><span class="lineno"> 856</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
|
||||
<div class="line"><a id="l00857" name="l00857"></a><span class="lineno"> 857</span>pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">float</span> intensity = 0.0f);</div>
|
||||
<div class="line"><a id="l00858" name="l00858"></a><span class="lineno"> 858</span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
|
||||
<div class="line"><a id="l00859" name="l00859"></a><span class="lineno"> 859</span>pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">float</span> intensity = 0.0f);</div>
|
||||
<div class="line"><a id="l00860" name="l00860"></a><span class="lineno"> 860</span> </div>
|
||||
<div class="line"><a id="l00882" name="l00882"></a><span class="lineno"> 882</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT getMinMax3D(<span class="keyword">const</span> cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);</div>
|
||||
<div class="line"><a id="l00883" name="l00883"></a><span class="lineno"> 883</span> </div>
|
||||
<div class="line"><a id="l00897" name="l00897"></a><span class="lineno"> 897</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT getMinMax3D(<span class="keyword">const</span> cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);</div>
|
||||
<div class="line"><a id="l00898" name="l00898"></a><span class="lineno"> 898</span> </div>
|
||||
<div class="line"><a id="l00921" name="l00921"></a><span class="lineno"> 921</span>cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(</div>
|
||||
<div class="line"><a id="l00922" name="l00922"></a><span class="lineno"> 922</span> <span class="keyword">const</span> cv::Point2f & pt,</div>
|
||||
<div class="line"><a id="l00923" name="l00923"></a><span class="lineno"> 923</span> <span class="keywordtype">float</span> disparity,</div>
|
||||
<div class="line"><a id="l00924" name="l00924"></a><span class="lineno"> 924</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model);</div>
|
||||
<div class="line"><a id="l00925" name="l00925"></a><span class="lineno"> 925</span> </div>
|
||||
<div class="line"><a id="l00944" name="l00944"></a><span class="lineno"> 944</span>cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(</div>
|
||||
<div class="line"><a id="l00945" name="l00945"></a><span class="lineno"> 945</span> <span class="keyword">const</span> cv::Point2f & pt,</div>
|
||||
<div class="line"><a id="l00946" name="l00946"></a><span class="lineno"> 946</span> <span class="keyword">const</span> cv::Mat & disparity,</div>
|
||||
<div class="line"><a id="l00947" name="l00947"></a><span class="lineno"> 947</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model);</div>
|
||||
<div class="line"><a id="l00948" name="l00948"></a><span class="lineno"> 948</span> </div>
|
||||
<div class="line"><a id="l00969" name="l00969"></a><span class="lineno"> 969</span>cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(</div>
|
||||
<div class="line"><a id="l00970" name="l00970"></a><span class="lineno"> 970</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
|
||||
<div class="line"><a id="l00971" name="l00971"></a><span class="lineno"> 971</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
|
||||
<div class="line"><a id="l00972" name="l00972"></a><span class="lineno"> 972</span> <span class="keyword">const</span> cv::Mat & laserScan,</div>
|
||||
<div class="line"><a id="l00973" name="l00973"></a><span class="lineno"> 973</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
|
||||
<div class="line"><a id="l00974" name="l00974"></a><span class="lineno"> 974</span> </div>
|
||||
<div class="line"><a id="l00995" name="l00995"></a><span class="lineno"> 995</span>cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(</div>
|
||||
<div class="line"><a id="l00996" name="l00996"></a><span class="lineno"> 996</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
|
||||
<div class="line"><a id="l00997" name="l00997"></a><span class="lineno"> 997</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK,</div>
|
||||
<div class="line"><a id="l00998" name="l00998"></a><span class="lineno"> 998</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,</div>
|
||||
<div class="line"><a id="l00999" name="l00999"></a><span class="lineno"> 999</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
|
||||
<div class="line"><a id="l01000" name="l01000"></a><span class="lineno"> 1000</span> </div>
|
||||
<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span>cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(</div>
|
||||
<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
|
||||
<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"> 1023</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
|
||||
<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr laserScan,</div>
|
||||
<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
|
||||
<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span> </div>
|
||||
<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT fillProjectedCloudHoles(</div>
|
||||
<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> cv::Mat & depthRegistered,</div>
|
||||
<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> <span class="keywordtype">bool</span> verticalDirection,</div>
|
||||
<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> <span class="keywordtype">bool</span> fillToBorder);</div>
|
||||
<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> </div>
|
||||
<div class="line"><a id="l01079" name="l01079"></a><span class="lineno"> 1079</span>cv::Mat RTABMAP_CORE_EXPORT filterFloor(</div>
|
||||
<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
|
||||
<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span> <span class="keywordtype">float</span> threshold,</div>
|
||||
<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span> cv::Mat * depthBelow = 0);</div>
|
||||
<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span> </div>
|
||||
<div class="line"><a id="l01105" name="l01105"></a><span class="lineno"> 1105</span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (</div>
|
||||
<div class="line"><a id="l01106" name="l01106"></a><span class="lineno"> 1106</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,</div>
|
||||
<div class="line"><a id="l01107" name="l01107"></a><span class="lineno"> 1107</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l01108" name="l01108"></a><span class="lineno"> 1108</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l01109" name="l01109"></a><span class="lineno"> 1109</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
|
||||
<div class="line"><a id="l01110" name="l01110"></a><span class="lineno"> 1110</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
|
||||
<div class="line"><a id="l01111" name="l01111"></a><span class="lineno"> 1111</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
|
||||
<div class="line"><a id="l01112" name="l01112"></a><span class="lineno"> 1112</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
|
||||
<div class="line"><a id="l01113" name="l01113"></a><span class="lineno"> 1113</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
|
||||
<div class="line"><a id="l01114" name="l01114"></a><span class="lineno"> 1114</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l01115" name="l01115"></a><span class="lineno"> 1115</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="l01136" name="l01136"></a><span class="lineno"> 1136</span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (</div>
|
||||
<div class="line"><a id="l01137" name="l01137"></a><span class="lineno"> 1137</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud,</div>
|
||||
<div class="line"><a id="l01138" name="l01138"></a><span class="lineno"> 1138</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l01139" name="l01139"></a><span class="lineno"> 1139</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l01140" name="l01140"></a><span class="lineno"> 1140</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
|
||||
<div class="line"><a id="l01141" name="l01141"></a><span class="lineno"> 1141</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
|
||||
<div class="line"><a id="l01142" name="l01142"></a><span class="lineno"> 1142</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
|
||||
<div class="line"><a id="l01143" name="l01143"></a><span class="lineno"> 1143</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
|
||||
<div class="line"><a id="l01144" name="l01144"></a><span class="lineno"> 1144</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
|
||||
<div class="line"><a id="l01145" name="l01145"></a><span class="lineno"> 1145</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l01146" name="l01146"></a><span class="lineno"> 1146</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="l01147" name="l01147"></a><span class="lineno"> 1147</span> </div>
|
||||
<div class="line"><a id="l01157" name="l01157"></a><span class="lineno"> 1157</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT isFinite(<span class="keyword">const</span> cv::Point3f & pt);</div>
|
||||
<div class="line"><a id="l01158" name="l01158"></a><span class="lineno"> 1158</span> </div>
|
||||
<div class="line"><a id="l01168" name="l01168"></a><span class="lineno"> 1168</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(</div>
|
||||
<div class="line"><a id="l01169" name="l01169"></a><span class="lineno"> 1169</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);</div>
|
||||
<div class="line"><a id="l01179" name="l01179"></a><span class="lineno"> 1179</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(</div>
|
||||
<div class="line"><a id="l01180" name="l01180"></a><span class="lineno"> 1180</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);</div>
|
||||
<div class="line"><a id="l01181" name="l01181"></a><span class="lineno"> 1181</span> </div>
|
||||
<div class="line"><a id="l01196" name="l01196"></a><span class="lineno"> 1196</span>pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(</div>
|
||||
<div class="line"><a id="l01197" name="l01197"></a><span class="lineno"> 1197</span> <span class="keyword">const</span> std::vector<pcl::IndicesPtr> & indices);</div>
|
||||
<div class="line"><a id="l01198" name="l01198"></a><span class="lineno"> 1198</span> </div>
|
||||
<div class="line"><a id="l01213" name="l01213"></a><span class="lineno"> 1213</span>pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(</div>
|
||||
<div class="line"><a id="l01214" name="l01214"></a><span class="lineno"> 1214</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesA,</div>
|
||||
<div class="line"><a id="l01215" name="l01215"></a><span class="lineno"> 1215</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesB);</div>
|
||||
<div class="line"><a id="l01216" name="l01216"></a><span class="lineno"> 1216</span> </div>
|
||||
<div class="line"><a id="l01228" name="l01228"></a><span class="lineno"> 1228</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT savePCDWords(</div>
|
||||
<div class="line"><a id="l01229" name="l01229"></a><span class="lineno"> 1229</span> <span class="keyword">const</span> std::string & fileName,</div>
|
||||
<div class="line"><a id="l01230" name="l01230"></a><span class="lineno"> 1230</span> <span class="keyword">const</span> std::multimap<int, pcl::PointXYZ> & words,</div>
|
||||
<div class="line"><a id="l01231" name="l01231"></a><span class="lineno"> 1231</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
|
||||
<div class="line"><a id="l01232" name="l01232"></a><span class="lineno"> 1232</span> </div>
|
||||
<div class="line"><a id="l01244" name="l01244"></a><span class="lineno"> 1244</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT savePCDWords(</div>
|
||||
<div class="line"><a id="l01245" name="l01245"></a><span class="lineno"> 1245</span> <span class="keyword">const</span> std::string & fileName,</div>
|
||||
<div class="line"><a id="l01246" name="l01246"></a><span class="lineno"> 1246</span> <span class="keyword">const</span> std::multimap<int, cv::Point3f> & words,</div>
|
||||
<div class="line"><a id="l01247" name="l01247"></a><span class="lineno"> 1247</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
|
||||
<div class="line"><a id="l01248" name="l01248"></a><span class="lineno"> 1248</span> </div>
|
||||
<div class="line"><a id="l01259" name="l01259"></a><span class="lineno"> 1259</span>cv::Mat RTABMAP_CORE_EXPORT loadBINScan(<span class="keyword">const</span> std::string & fileName);</div>
|
||||
<div class="line"><a id="l01268" name="l01268"></a><span class="lineno"> 1268</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(<span class="keyword">const</span> std::string & fileName);</div>
|
||||
<div class="line"><a id="l01277" name="l01277"></a><span class="lineno"> 1277</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(<span class="keyword">const</span> std::string & fileName, <span class="keywordtype">int</span> dim);</div>
|
||||
<div class="line"><a id="l01278" name="l01278"></a><span class="lineno"> 1278</span> </div>
|
||||
<div class="line"><a id="l01289" name="l01289"></a><span class="lineno"> 1289</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT loadScan(<span class="keyword">const</span> std::string & path);</div>
|
||||
<div class="line"><a id="l01290" name="l01290"></a><span class="lineno"> 1290</span> </div>
|
||||
<div class="line"><a id="l01304" name="l01304"></a><span class="lineno"> 1304</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(</div>
|
||||
<div class="line"><a id="l01305" name="l01305"></a><span class="lineno"> 1305</span> <span class="keyword">const</span> std::string & path,</div>
|
||||
<div class="line"><a id="l01306" name="l01306"></a><span class="lineno"> 1306</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l01307" name="l01307"></a><span class="lineno"> 1307</span> <span class="keywordtype">int</span> downsampleStep = 1,</div>
|
||||
<div class="line"><a id="l01308" name="l01308"></a><span class="lineno"> 1308</span> <span class="keywordtype">float</span> voxelSize = 0.0f);</div>
|
||||
<div class="line"><a id="l01309" name="l01309"></a><span class="lineno"> 1309</span> </div>
|
||||
<div class="line"><a id="l01341" name="l01341"></a><span class="lineno"> 1341</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT deskew(</div>
|
||||
<div class="line"><a id="l01342" name="l01342"></a><span class="lineno"> 1342</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & input,</div>
|
||||
<div class="line"><a id="l01343" name="l01343"></a><span class="lineno"> 1343</span> <span class="keywordtype">double</span> inputStamp,</div>
|
||||
<div class="line"><a id="l01344" name="l01344"></a><span class="lineno"> 1344</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & velocity);</div>
|
||||
<div class="line"><a id="l01345" name="l01345"></a><span class="lineno"> 1345</span> </div>
|
||||
<div class="line"><a id="l01346" name="l01346"></a><span class="lineno"> 1346</span>} <span class="comment">// namespace util3d</span></div>
|
||||
<div class="line"><a id="l01347" name="l01347"></a><span class="lineno"> 1347</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l01348" name="l01348"></a><span class="lineno"> 1348</span> </div>
|
||||
<div class="line"><a id="l01349" name="l01349"></a><span class="lineno"> 1349</span>POINT_CLOUD_REGISTER_POINT_STRUCT(<a class="code hl_struct" href="structrtabmap_1_1PointXYZIRT.html">rtabmap::PointXYZIRT</a>,</div>
|
||||
<div class="line"><a id="l01350" name="l01350"></a><span class="lineno"> 1350</span> (<span class="keywordtype">float</span>, x, x)</div>
|
||||
<div class="line"><a id="l01351" name="l01351"></a><span class="lineno"> 1351</span> (<span class="keywordtype">float</span>, y, y)</div>
|
||||
<div class="line"><a id="l01352" name="l01352"></a><span class="lineno"> 1352</span> (<span class="keywordtype">float</span>, z, z)</div>
|
||||
<div class="line"><a id="l01353" name="l01353"></a><span class="lineno"> 1353</span> (<span class="keywordtype">float</span>, intensity, intensity)</div>
|
||||
<div class="line"><a id="l01354" name="l01354"></a><span class="lineno"> 1354</span> (std::uint16_t, ring, ring)</div>
|
||||
<div class="line"><a id="l01355" name="l01355"></a><span class="lineno"> 1355</span> (<span class="keywordtype">float</span>, time, time)</div>
|
||||
<div class="line"><a id="l01356" name="l01356"></a><span class="lineno"> 1356</span>)</div>
|
||||
<div class="line"><a id="l01357" name="l01357"></a><span class="lineno"> 1357</span> </div>
|
||||
<div class="line"><a id="l01358" name="l01358"></a><span class="lineno"> 1358</span><span class="preprocessor">#include "rtabmap/core/impl/util3d.hpp"</span></div>
|
||||
<div class="line"><a id="l01359" name="l01359"></a><span class="lineno"> 1359</span> </div>
|
||||
<div class="line"><a id="l01360" name="l01360"></a><span class="lineno"> 1360</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00861" name="l00861"></a><span class="lineno"> 861</span> </div>
|
||||
<div class="line"><a id="l00862" name="l00862"></a><span class="lineno"> 862</span>pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index);</div>
|
||||
<div class="line"><a id="l00863" name="l00863"></a><span class="lineno"> 863</span>pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index);</div>
|
||||
<div class="line"><a id="l00864" name="l00864"></a><span class="lineno"> 864</span>pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
|
||||
<div class="line"><a id="l00865" name="l00865"></a><span class="lineno"> 865</span>pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">float</span> intensity);</div>
|
||||
<div class="line"><a id="l00866" name="l00866"></a><span class="lineno"> 866</span>pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b);</div>
|
||||
<div class="line"><a id="l00867" name="l00867"></a><span class="lineno"> 867</span>pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">float</span> intensity);</div>
|
||||
<div class="line"><a id="l00868" name="l00868"></a><span class="lineno"> 868</span> </div>
|
||||
<div class="line"><a id="l00890" name="l00890"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018"> 890</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018">getMinMax3D</a>(<span class="keyword">const</span> cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);</div>
|
||||
<div class="line"><a id="l00891" name="l00891"></a><span class="lineno"> 891</span> </div>
|
||||
<div class="line"><a id="l00905" name="l00905"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#afc22f82c00f6dcc8a4ec1963891f4b7e"> 905</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018">getMinMax3D</a>(<span class="keyword">const</span> cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);</div>
|
||||
<div class="line"><a id="l00906" name="l00906"></a><span class="lineno"> 906</span> </div>
|
||||
<div class="line"><a id="l00929" name="l00929"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5"> 929</a></span>cv::Point3f RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5">projectDisparityTo3D</a>(</div>
|
||||
<div class="line"><a id="l00930" name="l00930"></a><span class="lineno"> 930</span> <span class="keyword">const</span> cv::Point2f & pt,</div>
|
||||
<div class="line"><a id="l00931" name="l00931"></a><span class="lineno"> 931</span> <span class="keywordtype">float</span> disparity,</div>
|
||||
<div class="line"><a id="l00932" name="l00932"></a><span class="lineno"> 932</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model);</div>
|
||||
<div class="line"><a id="l00933" name="l00933"></a><span class="lineno"> 933</span> </div>
|
||||
<div class="line"><a id="l00952" name="l00952"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a05a022ff5229033fc248bc497edd5449"> 952</a></span>cv::Point3f RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5">projectDisparityTo3D</a>(</div>
|
||||
<div class="line"><a id="l00953" name="l00953"></a><span class="lineno"> 953</span> <span class="keyword">const</span> cv::Point2f & pt,</div>
|
||||
<div class="line"><a id="l00954" name="l00954"></a><span class="lineno"> 954</span> <span class="keyword">const</span> cv::Mat & disparity,</div>
|
||||
<div class="line"><a id="l00955" name="l00955"></a><span class="lineno"> 955</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model);</div>
|
||||
<div class="line"><a id="l00956" name="l00956"></a><span class="lineno"> 956</span> </div>
|
||||
<div class="line"><a id="l00977" name="l00977"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057"> 977</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">projectCloudToCamera</a>(</div>
|
||||
<div class="line"><a id="l00978" name="l00978"></a><span class="lineno"> 978</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
|
||||
<div class="line"><a id="l00979" name="l00979"></a><span class="lineno"> 979</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
|
||||
<div class="line"><a id="l00980" name="l00980"></a><span class="lineno"> 980</span> <span class="keyword">const</span> cv::Mat & laserScan,</div>
|
||||
<div class="line"><a id="l00981" name="l00981"></a><span class="lineno"> 981</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
|
||||
<div class="line"><a id="l00982" name="l00982"></a><span class="lineno"> 982</span> </div>
|
||||
<div class="line"><a id="l01003" name="l01003"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a7dea084f1dbb77c8f5bc2a7241c3b566"> 1003</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">projectCloudToCamera</a>(</div>
|
||||
<div class="line"><a id="l01004" name="l01004"></a><span class="lineno"> 1004</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
|
||||
<div class="line"><a id="l01005" name="l01005"></a><span class="lineno"> 1005</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK,</div>
|
||||
<div class="line"><a id="l01006" name="l01006"></a><span class="lineno"> 1006</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,</div>
|
||||
<div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
|
||||
<div class="line"><a id="l01008" name="l01008"></a><span class="lineno"> 1008</span> </div>
|
||||
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a285e01226d60613ffd77d929780069ba"> 1029</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">projectCloudToCamera</a>(</div>
|
||||
<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
|
||||
<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
|
||||
<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr laserScan,</div>
|
||||
<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
|
||||
<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> </div>
|
||||
<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564"> 1054</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564">fillProjectedCloudHoles</a>(</div>
|
||||
<div class="line"><a id="l01055" name="l01055"></a><span class="lineno"> 1055</span> cv::Mat & depthRegistered,</div>
|
||||
<div class="line"><a id="l01056" name="l01056"></a><span class="lineno"> 1056</span> <span class="keywordtype">bool</span> verticalDirection,</div>
|
||||
<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> <span class="keywordtype">bool</span> fillToBorder);</div>
|
||||
<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> </div>
|
||||
<div class="line"><a id="l01087" name="l01087"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628"> 1087</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628">filterFloor</a>(</div>
|
||||
<div class="line"><a id="l01088" name="l01088"></a><span class="lineno"> 1088</span> <span class="keyword">const</span> cv::Mat & depth,</div>
|
||||
<div class="line"><a id="l01089" name="l01089"></a><span class="lineno"> 1089</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
|
||||
<div class="line"><a id="l01090" name="l01090"></a><span class="lineno"> 1090</span> <span class="keywordtype">float</span> threshold,</div>
|
||||
<div class="line"><a id="l01091" name="l01091"></a><span class="lineno"> 1091</span> cv::Mat * depthBelow = 0);</div>
|
||||
<div class="line"><a id="l01092" name="l01092"></a><span class="lineno"> 1092</span> </div>
|
||||
<div class="line"><a id="l01113" name="l01113"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea"> 1113</a></span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea">projectCloudToCameras</a> (</div>
|
||||
<div class="line"><a id="l01114" name="l01114"></a><span class="lineno"> 1114</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,</div>
|
||||
<div class="line"><a id="l01115" name="l01115"></a><span class="lineno"> 1115</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l01116" name="l01116"></a><span class="lineno"> 1116</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l01117" name="l01117"></a><span class="lineno"> 1117</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
|
||||
<div class="line"><a id="l01118" name="l01118"></a><span class="lineno"> 1118</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
|
||||
<div class="line"><a id="l01119" name="l01119"></a><span class="lineno"> 1119</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
|
||||
<div class="line"><a id="l01120" name="l01120"></a><span class="lineno"> 1120</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
|
||||
<div class="line"><a id="l01121" name="l01121"></a><span class="lineno"> 1121</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
|
||||
<div class="line"><a id="l01122" name="l01122"></a><span class="lineno"> 1122</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l01123" name="l01123"></a><span class="lineno"> 1123</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="l01144" name="l01144"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae29c5a7ba359682e2430f55318226b39"> 1144</a></span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea">projectCloudToCameras</a> (</div>
|
||||
<div class="line"><a id="l01145" name="l01145"></a><span class="lineno"> 1145</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud,</div>
|
||||
<div class="line"><a id="l01146" name="l01146"></a><span class="lineno"> 1146</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
|
||||
<div class="line"><a id="l01147" name="l01147"></a><span class="lineno"> 1147</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l01148" name="l01148"></a><span class="lineno"> 1148</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
|
||||
<div class="line"><a id="l01149" name="l01149"></a><span class="lineno"> 1149</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
|
||||
<div class="line"><a id="l01150" name="l01150"></a><span class="lineno"> 1150</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
|
||||
<div class="line"><a id="l01151" name="l01151"></a><span class="lineno"> 1151</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
|
||||
<div class="line"><a id="l01152" name="l01152"></a><span class="lineno"> 1152</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
|
||||
<div class="line"><a id="l01153" name="l01153"></a><span class="lineno"> 1153</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l01154" name="l01154"></a><span class="lineno"> 1154</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="l01155" name="l01155"></a><span class="lineno"> 1155</span> </div>
|
||||
<div class="line"><a id="l01165" name="l01165"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020"> 1165</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020">isFinite</a>(<span class="keyword">const</span> cv::Point3f & pt);</div>
|
||||
<div class="line"><a id="l01166" name="l01166"></a><span class="lineno"> 1166</span> </div>
|
||||
<div class="line"><a id="l01176" name="l01176"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b"> 1176</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">concatenateClouds</a>(</div>
|
||||
<div class="line"><a id="l01177" name="l01177"></a><span class="lineno"> 1177</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);</div>
|
||||
<div class="line"><a id="l01187" name="l01187"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a909a600c90d8bc4f77b62ff21a97ddc1"> 1187</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">concatenateClouds</a>(</div>
|
||||
<div class="line"><a id="l01188" name="l01188"></a><span class="lineno"> 1188</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);</div>
|
||||
<div class="line"><a id="l01189" name="l01189"></a><span class="lineno"> 1189</span> </div>
|
||||
<div class="line"><a id="l01204" name="l01204"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969"> 1204</a></span>pcl::IndicesPtr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">concatenate</a>(</div>
|
||||
<div class="line"><a id="l01205" name="l01205"></a><span class="lineno"> 1205</span> <span class="keyword">const</span> std::vector<pcl::IndicesPtr> & indices);</div>
|
||||
<div class="line"><a id="l01206" name="l01206"></a><span class="lineno"> 1206</span> </div>
|
||||
<div class="line"><a id="l01221" name="l01221"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ac6c2019b1dad806d0c593e2ee3c21185"> 1221</a></span>pcl::IndicesPtr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">concatenate</a>(</div>
|
||||
<div class="line"><a id="l01222" name="l01222"></a><span class="lineno"> 1222</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesA,</div>
|
||||
<div class="line"><a id="l01223" name="l01223"></a><span class="lineno"> 1223</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesB);</div>
|
||||
<div class="line"><a id="l01224" name="l01224"></a><span class="lineno"> 1224</span> </div>
|
||||
<div class="line"><a id="l01236" name="l01236"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6"> 1236</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6">savePCDWords</a>(</div>
|
||||
<div class="line"><a id="l01237" name="l01237"></a><span class="lineno"> 1237</span> <span class="keyword">const</span> std::string & fileName,</div>
|
||||
<div class="line"><a id="l01238" name="l01238"></a><span class="lineno"> 1238</span> <span class="keyword">const</span> std::multimap<int, pcl::PointXYZ> & words,</div>
|
||||
<div class="line"><a id="l01239" name="l01239"></a><span class="lineno"> 1239</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
|
||||
<div class="line"><a id="l01240" name="l01240"></a><span class="lineno"> 1240</span> </div>
|
||||
<div class="line"><a id="l01252" name="l01252"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#abf6955904a45f28187e73aa1f4c409e0"> 1252</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6">savePCDWords</a>(</div>
|
||||
<div class="line"><a id="l01253" name="l01253"></a><span class="lineno"> 1253</span> <span class="keyword">const</span> std::string & fileName,</div>
|
||||
<div class="line"><a id="l01254" name="l01254"></a><span class="lineno"> 1254</span> <span class="keyword">const</span> std::multimap<int, cv::Point3f> & words,</div>
|
||||
<div class="line"><a id="l01255" name="l01255"></a><span class="lineno"> 1255</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
|
||||
<div class="line"><a id="l01256" name="l01256"></a><span class="lineno"> 1256</span> </div>
|
||||
<div class="line"><a id="l01267" name="l01267"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556"> 1267</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556">loadBINScan</a>(<span class="keyword">const</span> std::string & fileName);</div>
|
||||
<div class="line"><a id="l01276" name="l01276"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06"> 1276</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06">loadBINCloud</a>(<span class="keyword">const</span> std::string & fileName);</div>
|
||||
<div class="line"><a id="l01285" name="l01285"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae112015538769a29c920da97096e0d17"> 1285</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06">loadBINCloud</a>(<span class="keyword">const</span> std::string & fileName, <span class="keywordtype">int</span> dim);</div>
|
||||
<div class="line"><a id="l01286" name="l01286"></a><span class="lineno"> 1286</span> </div>
|
||||
<div class="line"><a id="l01297" name="l01297"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190"> 1297</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190">loadScan</a>(<span class="keyword">const</span> std::string & path);</div>
|
||||
<div class="line"><a id="l01298" name="l01298"></a><span class="lineno"> 1298</span> </div>
|
||||
<div class="line"><a id="l01312" name="l01312"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8"> 1312</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8">loadCloud</a>(</div>
|
||||
<div class="line"><a id="l01313" name="l01313"></a><span class="lineno"> 1313</span> <span class="keyword">const</span> std::string & path,</div>
|
||||
<div class="line"><a id="l01314" name="l01314"></a><span class="lineno"> 1314</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l01315" name="l01315"></a><span class="lineno"> 1315</span> <span class="keywordtype">int</span> downsampleStep = 1,</div>
|
||||
<div class="line"><a id="l01316" name="l01316"></a><span class="lineno"> 1316</span> <span class="keywordtype">float</span> voxelSize = 0.0f);</div>
|
||||
<div class="line"><a id="l01317" name="l01317"></a><span class="lineno"> 1317</span> </div>
|
||||
<div class="line"><a id="l01349" name="l01349"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c"> 1349</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c">deskew</a>(</div>
|
||||
<div class="line"><a id="l01350" name="l01350"></a><span class="lineno"> 1350</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & input,</div>
|
||||
<div class="line"><a id="l01351" name="l01351"></a><span class="lineno"> 1351</span> <span class="keywordtype">double</span> inputStamp,</div>
|
||||
<div class="line"><a id="l01352" name="l01352"></a><span class="lineno"> 1352</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & velocity);</div>
|
||||
<div class="line"><a id="l01353" name="l01353"></a><span class="lineno"> 1353</span> </div>
|
||||
<div class="line"><a id="l01354" name="l01354"></a><span class="lineno"> 1354</span>} <span class="comment">// namespace util3d</span></div>
|
||||
<div class="line"><a id="l01355" name="l01355"></a><span class="lineno"> 1355</span>} <span class="comment">// namespace rtabmap</span></div>
|
||||
<div class="line"><a id="l01356" name="l01356"></a><span class="lineno"> 1356</span> </div>
|
||||
<div class="line"><a id="l01357" name="l01357"></a><span class="lineno"> 1357</span>POINT_CLOUD_REGISTER_POINT_STRUCT(<a class="code hl_struct" href="structrtabmap_1_1PointXYZIRT.html">rtabmap::PointXYZIRT</a>,</div>
|
||||
<div class="line"><a id="l01358" name="l01358"></a><span class="lineno"> 1358</span> (<span class="keywordtype">float</span>, x, x)</div>
|
||||
<div class="line"><a id="l01359" name="l01359"></a><span class="lineno"> 1359</span> (<span class="keywordtype">float</span>, y, y)</div>
|
||||
<div class="line"><a id="l01360" name="l01360"></a><span class="lineno"> 1360</span> (<span class="keywordtype">float</span>, z, z)</div>
|
||||
<div class="line"><a id="l01361" name="l01361"></a><span class="lineno"> 1361</span> (<span class="keywordtype">float</span>, intensity, intensity)</div>
|
||||
<div class="line"><a id="l01362" name="l01362"></a><span class="lineno"> 1362</span> (std::uint16_t, ring, ring)</div>
|
||||
<div class="line"><a id="l01363" name="l01363"></a><span class="lineno"> 1363</span> (<span class="keywordtype">float</span>, time, time)</div>
|
||||
<div class="line"><a id="l01364" name="l01364"></a><span class="lineno"> 1364</span>)</div>
|
||||
<div class="line"><a id="l01365" name="l01365"></a><span class="lineno"> 1365</span> </div>
|
||||
<div class="line"><a id="l01366" name="l01366"></a><span class="lineno"> 1366</span><span class="preprocessor">#include "rtabmap/core/impl/util3d.hpp"</span></div>
|
||||
<div class="line"><a id="l01367" name="l01367"></a><span class="lineno"> 1367</span> </div>
|
||||
<div class="line"><a id="l01368" name="l01368"></a><span class="lineno"> 1368</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</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_1ProgressState_html"><div class="ttname"><a href="classrtabmap_1_1ProgressState.html">rtabmap::ProgressState</a></div><div class="ttdef"><b>Definition</b> <a href="ProgressState_8h_source.html#l00035">ProgressState.h:36</a></div></div>
|
||||
@@ -492,12 +509,48 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="ttc" id="agroup__LaserScan2dFromPointCloud_html_gac0823dd28e488bef9499faee54ff8a4e"><div class="ttname"><a href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">rtabmap::util3d::laserScan2dFromPointCloud</a></div><div class="ttdeci">LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)</div><div class="ttdoc">PointXYZ → LaserScan::kXY</div></div>
|
||||
<div class="ttc" id="agroup__LaserScanFromPointCloud_html_ga078f5eae0077169e636ec76e03973edc"><div class="ttname"><a href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">rtabmap::util3d::laserScanFromPointCloud</a></div><div class="ttdeci">LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)</div><div class="ttdoc">Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...</div><div class="ttdef"><b>Definition</b> <a href="util3d_8hpp_source.html#l00037">util3d.hpp:37</a></div></div>
|
||||
<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga394ec840a58a1203fac9725d49a0013c"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c">rtabmap::util3d::laserScanToPointCloud2</a></div><div class="ttdeci">pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan &laserScan, const Transform &transform=Transform())</div><div class="ttdoc">Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::...</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a07f8a125805ac013039b7fa0ddb623e0"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0">rtabmap::util3d::laserScanFromDepthImages</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImages(const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth)</div><div class="ttdoc">Converts multiple depth images (e.g., from a stereo or multi-camera setup) into a single laser scan (...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a1e4a96407fb1b92018e640ef41b8db8e"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e">rtabmap::util3d::cloudFromDisparityRGB</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(const cv::Mat &imageRgb, const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Converts a disparity image and an RGB image to a 3D point cloud with color.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a2155fca440675ca9697a2fe7b2efb30e"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e">rtabmap::util3d::cloudsRGBFromSensorData</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a point cloud with RGB color data from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a29ece82e01f041cab271fe9322cf9745"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745">rtabmap::util3d::cloudRGBFromSensorData</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a point cloud of type pcl::PointXYZRGB from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a3366d0a9c24960ee3f5b720945e12b1b"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b">rtabmap::util3d::rgbFromCloud</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)</div><div class="ttdoc">Converts a PCL point cloud with RGBA information to an OpenCV RGB or BGR image.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a39d4adb63b4bd06592e2c65641a32558"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558">rtabmap::util3d::laserScanFromDepthImage</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImage(const cv::Mat &depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform &localTransform=Transform::getIdentity())</div><div class="ttdoc">Converts the middle row of a depth image into a laser scan (point cloud) using camera intrinsics and ...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a406caa6c0c51bae870a8c3a44e7daccc"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc">rtabmap::util3d::cloudFromStereoImages</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(const cv::Mat &imageLeft, const cv::Mat &imageRight, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Converts a pair of stereo images (left and right) into a 3D point cloud with RGB color information.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a42fb0c483553db3b06e78d85106b8ee5"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5">rtabmap::util3d::projectDisparityTo3D</a></div><div class="ttdeci">cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(const cv::Point2f &pt, float disparity, const StereoCameraModel &model)</div><div class="ttdoc">Projects a 2D point from the left image and its disparity into 3D space.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a45c699a4a8f4108aa31148fb706e6249"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">rtabmap::util3d::cloudFromDepth</a></div><div class="ttdeci">RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Converts a depth image to a 3D point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a4a95aa3704280ecff8ae50db2fdb03b5"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5">rtabmap::util3d::projectDepthTo3D</a></div><div class="ttdeci">pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float depthErrorRatio=0.02f)</div><div class="ttdoc">Projects a single depth pixel into 3D space.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a4e297ff4baacb0c658d7481eef5201a6"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6">rtabmap::util3d::savePCDWords</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT savePCDWords(const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())</div><div class="ttdoc">Saves 3D word points to a PCD file, applying a transform to each point.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a5ec62aa90ceb52a032e7e49c22e0fd76"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76">rtabmap::util3d::rgbdFromCloud</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT rgbdFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, cv::Mat &rgb, cv::Mat &depth, bool bgrOrder=true, bool depth16U=true)</div><div class="ttdoc">Converts a PCL point cloud (with RGBA colors) into aligned RGB and depth OpenCV images.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a5ee08270b4a9e8ad93193721c7c71556"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556">rtabmap::util3d::loadBINScan</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string &fileName)</div><div class="ttdoc">Loads a KITTI-style Velodyne binary scan file into an OpenCV matrix.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a636c56f4ab6e58044595f95e44f93d06"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06">rtabmap::util3d::loadBINCloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string &fileName)</div><div class="ttdoc">Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a791904051b63ab0da4d972166a25ae5f"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f">rtabmap::util3d::projectDepthTo3DRay</a></div><div class="ttdeci">Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(const cv::Size &imageSize, float x, float y, float cx, float cy, float fx, float fy)</div><div class="ttdoc">Projects pixel coordinates to a normalized 3D ray in camera coordinates.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a826310ce938a13b9fff64f71e7ecc057"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">rtabmap::util3d::projectCloudToCamera</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform)</div><div class="ttdoc">Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth ...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a863268b894de375aa45485dafe52dd7b"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">rtabmap::util3d::concatenateClouds</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT concatenateClouds(const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)</div><div class="ttdoc">Concatenates a list of PointXYZ point clouds into a single point cloud.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a86ba029bd916ab76dd5645ba7e1b2ef8"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8">rtabmap::util3d::loadCloud</a></div><div class="ttdeci">RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadCloud(const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)</div><div class="ttdoc">Loads and optionally transforms/downsamples/voxelizes a point cloud.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a982bc5d13fea129a174e16373aa8a31c"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">rtabmap::util3d::cloudFromDepthRGB</a></div><div class="ttdeci">RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Creates a point cloud from an RGB image and a depth image.</div></div>
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||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a992c9dd2c6243261244e0650d3e98564"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564">rtabmap::util3d::fillProjectedCloudHoles</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder)</div><div class="ttdoc">Fills holes (missing depth values) in a depth image by interpolating between non-zero values.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aa5a81a30a05507cb5d222f2f23c111ea"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea">rtabmap::util3d::projectCloudToCameras</a></div><div class="ttdeci">std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT projectCloudToCameras(const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, float maxDepthError=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)</div><div class="ttdoc">Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy...</div></div>
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||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aacda489f2336d8edb4e982f61f55cc66"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66">rtabmap::util3d::cloudFromSensorData</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a point cloud from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aaf77cb59d32f36c1e9baa2111a7b1b3d"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d">rtabmap::util3d::depthFromCloud</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool depth16U=true)</div><div class="ttdoc">Generates a depth image from a PCL organized point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_acc048e10b70e3ad3efb299926e575020"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020">rtabmap::util3d::isFinite</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f &pt)</div><div class="ttdoc">Checks if all coordinates of a 3D point are finite.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_ad857475644e8de6d7d84b920637b2018"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018">rtabmap::util3d::getMinMax3D</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)</div><div class="ttdoc">Computes the minimum and maximum 3D points from a laser scan matrix.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_ada07c0379fcc7bb7465e31a5a53ebfaa"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa">rtabmap::util3d::cloudsFromSensorData</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > RTABMAP_CORE_EXPORT cloudsFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a set of point clouds from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae145af1bf4955fa135bcf359fb1fe628"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628">rtabmap::util3d::filterFloor</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT filterFloor(const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float threshold, cv::Mat *depthBelow=0)</div><div class="ttdoc">Filters out points below a certain threshold in a depth image based on camera models.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae4f056638c16889c7cb1d41ecac2866c"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c">rtabmap::util3d::deskew</a></div><div class="ttdeci">LaserScan RTABMAP_CORE_EXPORT deskew(const LaserScan &input, double inputStamp, const rtabmap::Transform &velocity)</div><div class="ttdoc">Lidar deskewing.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aee34b5fe56014a9fa058fbdbf90cab71"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71">rtabmap::util3d::cloudFromDisparity</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Converts a disparity image to a 3D point cloud.</div></div>
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||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aefffe4f3418377f85659e7546668b190"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190">rtabmap::util3d::loadScan</a></div><div class="ttdeci">LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string &path)</div><div class="ttdoc">Loads a 3D scan from a file (.pcd, .ply, or .bin format).</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< pcl::IndicesPtr > &indices)</div><div class="ttdoc">Concatenates multiple sets of indices into a single index vector.</div></div>
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||||
<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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<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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<div class="ttc" id="astructrtabmap_1_1PointXYZIRT_html"><div class="ttname"><a href="structrtabmap_1_1PointXYZIRT.html">rtabmap::PointXYZIRT</a></div><div class="ttdoc">This namespace contains 3D point cloud processing utilities.</div><div class="ttdef"><b>Definition</b> <a href="util3d_8h_source.html#l00057">util3d.h:58</a></div></div>
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