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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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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
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$(document).ready(function(){initNavTree('util3d__mapping_8h_source.html',''); initResizable(); });
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<div id="nav-path" class="navpath">
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<ul>
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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_mapping.h</div></div>
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@@ -130,8 +147,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span>{</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="comment">// Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.</span></div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d"> 47</a></span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">occupancy2DFromLaserScan</a>(</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">const</span> cv::Mat & scan, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> cv::Mat & empty,</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> cv::Mat & occupied,</div>
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@@ -139,8 +155,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">bool</span> unknownSpaceFilled = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="comment">// Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.</span></div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aa1c9dfd681662ff1c164956a83e30b57"> 56</a></span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">occupancy2DFromLaserScan</a>(</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">const</span> cv::Mat & scan, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">const</span> cv::Point3f & viewpoint, <span class="comment">// /base_link -> /base_scan</span></div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> cv::Mat & empty,</div>
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@@ -149,7 +164,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordtype">bool</span> unknownSpaceFilled = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a2d2f6d5adead09c6f87ef3f7cdebc65e"> 92</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">occupancy2DFromLaserScan</a>(</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">const</span> cv::Mat & scanHit, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">const</span> cv::Mat & scanNoHit, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">const</span> cv::Point3f & viewpoint, <span class="comment">// /base_link -> /base_scan</span></div>
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@@ -159,7 +174,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">bool</span> unknownSpaceFilled = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f); <span class="comment">// would be set if unknownSpaceFilled=true</span></div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span>cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps(</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894"> 138</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">create2DMapFromOccupancyLocalMaps</a>(</div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::pair<cv::Mat, cv::Mat> > & occupancy,</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">float</span> cellSize,</div>
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@@ -169,8 +184,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">bool</span> erode = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">float</span> footprintRadius = 0.0f);</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span><span class="comment">// Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.</span></div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span>RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23"> 149</a></span>RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">create2DMap</a>(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">bool</span> unknownSpaceFilled,</div>
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@@ -179,8 +193,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">float</span> minMapSize = 0.0f,</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span><span class="comment">// Use interface with cv::Mat scans.</span></div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span>RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#adcc1d4aca3da4fcb11fa44d3a20f46ca"> 159</a></span>RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">create2DMap</a>(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">const</span> std::map<int, cv::Point3f > & viewpoints, <span class="comment">// /base_link -> /base_scan</span></div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> cellSize,</div>
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@@ -190,7 +203,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> minMapSize = 0.0f,</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span>cv::Mat RTABMAP_CORE_EXPORT create2DMap(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#afff989b8fc8d612a69d82bdfa7a28fe8"> 204</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">create2DMap</a>(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::pair<cv::Mat, cv::Mat> > & scans, <span class="comment">// <id, <hit, no hit> >, in /base_link frame</span></div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> std::map<int, cv::Point3f > & viewpoints, <span class="comment">// /base_link -> /base_scan</span></div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">float</span> cellSize,</div>
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@@ -200,26 +213,26 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> minMapSize = 0.0f,</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT rayTrace(<span class="keyword">const</span> cv::Point2i & start,</div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a281695150f5c02e6222d050f488a9d6b"> 235</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a281695150f5c02e6222d050f488a9d6b">rayTrace</a>(<span class="keyword">const</span> cv::Point2i & start,</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> cv::Point2i & end,</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> cv::Mat & grid,</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">bool</span> stopOnObstacle);</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span>cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(<span class="keyword">const</span> cv::Mat & map8S, <span class="keywordtype">bool</span> pgmFormat = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4"> 263</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4">convertMap2Image8U</a>(<span class="keyword">const</span> cv::Mat & map8S, <span class="keywordtype">bool</span> pgmFormat = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
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<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span>cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(<span class="keyword">const</span> cv::Mat & map8U, <span class="keywordtype">bool</span> pgmFormat = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049"> 293</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049">convertImage8U2Map</a>(<span class="keyword">const</span> cv::Mat & map8U, <span class="keywordtype">bool</span> pgmFormat = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> </div>
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<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span>cv::Mat RTABMAP_CORE_EXPORT erodeMap(<span class="keyword">const</span> cv::Mat & map);</div>
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<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aa4d323d39ec23ea314c22f0668ab11c4"> 312</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aa4d323d39ec23ea314c22f0668ab11c4">erodeMap</a>(<span class="keyword">const</span> cv::Mat & map);</div>
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<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
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<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span><span class="comment">// templated methods</span></div>
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<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> </div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
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<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span><span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(</div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span><span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980">projectCloudOnXYPlane</a>(</div>
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<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT> & cloud);</div>
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<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> </div>
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<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> </div>
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<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span><span class="keywordtype">void</span> segmentObstaclesFromGround(</div>
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<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a58ee399b0bca3a8af41e74d0eced5f84"> 363</a></span><span class="keywordtype">void</span> segmentObstaclesFromGround(</div>
|
||||
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
|
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<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> pcl::IndicesPtr & ground,</div>
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@@ -249,14 +262,14 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keywordtype">float</span> groundNormalsUp = 0);</div>
|
||||
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> </div>
|
||||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span><span class="keywordtype">void</span> occupancy2DFromGroundObstacles(</div>
|
||||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812">occupancy2DFromGroundObstacles</a>(</div>
|
||||
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & groundCloud,</div>
|
||||
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & obstaclesCloud,</div>
|
||||
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> cv::Mat & ground,</div>
|
||||
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> cv::Mat & obstacles,</div>
|
||||
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordtype">float</span> cellSize);</div>
|
||||
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span><span class="keywordtype">void</span> occupancy2DFromGroundObstacles(</div>
|
||||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812">occupancy2DFromGroundObstacles</a>(</div>
|
||||
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keyword">const</span> pcl::IndicesPtr & groundIndices,</div>
|
||||
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">const</span> pcl::IndicesPtr & obstaclesIndices,</div>
|
||||
@@ -265,7 +278,7 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keywordtype">float</span> cellSize);</div>
|
||||
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> </div>
|
||||
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span><span class="keywordtype">void</span> occupancy2DFromCloud3D(</div>
|
||||
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2">occupancy2DFromCloud3D</a>(</div>
|
||||
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> cv::Mat & ground,</div>
|
||||
@@ -276,7 +289,7 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keywordtype">bool</span> segmentFlatObstacles = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordtype">float</span> maxGroundHeight = 0.0f);</div>
|
||||
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span><span class="keywordtype">void</span> occupancy2DFromCloud3D(</div>
|
||||
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2">occupancy2DFromCloud3D</a>(</div>
|
||||
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> cv::Mat & ground,</div>
|
||||
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> cv::Mat & obstacles,</div>
|
||||
@@ -292,11 +305,25 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span><span class="preprocessor">#include "rtabmap/core/impl/util3d_mapping.hpp"</span></div>
|
||||
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> </div>
|
||||
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_MAPPING_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a281695150f5c02e6222d050f488a9d6b"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a281695150f5c02e6222d050f488a9d6b">rtabmap::util3d::rayTrace</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT rayTrace(const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)</div><div class="ttdoc">Performs a 2D ray tracing operation between two points on a grid map.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a3bdae076cc5054f35393b744f478b980"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980">rtabmap::util3d::projectCloudOnXYPlane</a></div><div class="ttdeci">pcl::PointCloud< PointT >::Ptr projectCloudOnXYPlane(const typename pcl::PointCloud< PointT > &cloud)</div><div class="ttdoc">Projects a point cloud onto the XY plane by setting all Z coordinates to zero.</div><div class="ttdef"><b>Definition</b> <a href="util3d__mapping_8hpp_source.html#l00041">util3d_mapping.hpp:41</a></div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a4f1002c1825baf4b7606a94b4ea9b15d"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">rtabmap::util3d::occupancy2DFromLaserScan</a></div><div class="ttdeci">RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(const cv::Mat &scan, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a7d90f3a00301f9f7c79cd6fc6cd663c2"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2">rtabmap::util3d::occupancy2DFromCloud3D</a></div><div class="ttdeci">void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)</div><div class="ttdoc">Generates 2D ground and obstacle occupancy data from a 3D point cloud.</div><div class="ttdef"><b>Definition</b> <a href="util3d__mapping_8hpp_source.html#l00309">util3d_mapping.hpp:309</a></div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a86ea393c958183f10da8f7327e25d894"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">rtabmap::util3d::create2DMapFromOccupancyLocalMaps</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps(const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &occupancy, float cellSize, float &xMin, float &yMin, float minMapSize=0.0f, bool erode=false, float footprintRadius=0.0f)</div><div class="ttdoc">Creates a 2D occupancy grid map from local occupancy data.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aa4d323d39ec23ea314c22f0668ab11c4"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aa4d323d39ec23ea314c22f0668ab11c4">rtabmap::util3d::erodeMap</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT erodeMap(const cv::Mat &map)</div><div class="ttdoc">Performs erosion on an occupancy grid map to reduce small noisy obstacles.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_ab156e4308c21e118ea0aa164a5ae9812"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812">rtabmap::util3d::occupancy2DFromGroundObstacles</a></div><div class="ttdeci">void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)</div><div class="ttdoc">Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupanc...</div><div class="ttdef"><b>Definition</b> <a href="util3d__mapping_8hpp_source.html#l00234">util3d_mapping.hpp:234</a></div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_acb47883439442306b63f5bf234e87049"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049">rtabmap::util3d::convertImage8U2Map</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat &map8U, bool pgmFormat=false)</div><div class="ttdoc">Converts a grayscale occupancy image (CV_8U) to an occupancy grid map (CV_8S).</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae57dd8dcc488496a2c3872eba97eb4e4"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4">rtabmap::util3d::convertMap2Image8U</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat &map8S, bool pgmFormat=false)</div><div class="ttdoc">Converts an occupancy grid map (CV_8S) to a grayscale image (CV_8U).</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae7dca67101116f7de0114cea5442ec23"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">rtabmap::util3d::create2DMap</a></div><div class="ttdeci">RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
|
||||
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