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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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@@ -55,6 +60,23 @@ $(function() {
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
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$(document).ready(function(){initNavTree('util3d__surface_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="header">
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<div class="headertitle"><div class="title">util3d_surface.h</div></div>
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@@ -139,7 +156,7 @@ $(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="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span>{</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="l00064" name="l00064"></a><span class="lineno"> 64</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT createPolygonIndexes(</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62"> 64</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62">createPolygonIndexes</a>(</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">int</span> cloudSize,</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> std::vector<std::set<int> > & neighborPolygons,</div>
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@@ -226,7 +243,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">float</span> maxAngle = 0.0f, <span class="comment">// maximum angle between camera and face (0=disabled)</span></div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordtype">int</span> minClusterSize = 50, <span class="comment">// minimum size of polygons clusters textured</span></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::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// [left, right, top, bottom] region of interest (in ratios) of the image projected.</span></div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">const</span> ProgressState * state = 0,</div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, <span class="comment">// For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.</span></div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span>pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(</div>
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@@ -239,11 +256,11 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">float</span> maxAngle = 0.0f, <span class="comment">// maximum angle between camera and face (0=disabled)</span></div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">int</span> minClusterSize = 50, <span class="comment">// minimum size of polygons clusters textured</span></div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// [left, right, top, bottom] region of interest (in ratios) of the image projected.</span></div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">const</span> ProgressState * state = 0,</div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, <span class="comment">// For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.</span></div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT cleanTextureMesh(</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0"> 171</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0">cleanTextureMesh</a>(</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> pcl::TextureMesh & textureMesh,</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">int</span> minClusterSize);</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
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@@ -271,18 +288,18 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">const</span> std::vector<std::vector<Eigen::Vector2f> > & texCoords,</div>
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span>#endif</div>
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<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> cv::Mat & textures,</div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">bool</span> mergeTextures = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a> = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span>pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT assemblePolygonMesh(</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keyword">const</span> cv::Mat & cloudMat,</div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">const</span> std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> </div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span>cv::Mat RTABMAP_CORE_EXPORT mergeTextures(</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238"> 209</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a>(</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> pcl::TextureMesh & mesh,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keyword">const</span> std::map<int, CameraModel> & calibrations, <span class="comment">// Should match images</span></div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keyword">const</span> Memory * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keyword">const</span> DBDriver * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordtype">int</span> textureSize = 4096,</div>
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<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">int</span> textureCount = 1,</div>
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), <span class="comment">// needed for parameters below</span></div>
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@@ -294,18 +311,18 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">int</span> brightnessContrastRatioLow = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">int</span> brightnessContrastRatioHigh = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">bool</span> exposureFusion = <span class="keyword">false</span>, <span class="comment">//Exposure fusion can be used only with OpenCV3</span></div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">const</span> ProgressState * state = 0,</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blankValue = 255, <span class="comment">//Gray value for blank polygons (without texture)</span></div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">bool</span> clearVertexColorUnderTexture = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > * gains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B></span></div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Mat> > * blendingGains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains></span></div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> std::pair<float, float> * contrastValues = 0); <span class="comment">// Alpha/beta contrast values</span></div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span>cv::Mat RTABMAP_CORE_EXPORT mergeTextures(</div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">mergeTextures</a>(</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> pcl::TextureMesh & mesh,</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & calibrations, <span class="comment">// Should match images</span></div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> Memory * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keyword">const</span> DBDriver * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">int</span> textureSize = 4096,</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">int</span> textureCount = 1,</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), <span class="comment">// needed for parameters below</span></div>
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@@ -317,7 +334,7 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> <span class="keywordtype">int</span> brightnessContrastRatioLow = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> <span class="keywordtype">int</span> brightnessContrastRatioHigh = 0, <span class="comment">//0=disabled, values between 0 and 100</span></div>
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<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordtype">bool</span> exposureFusion = <span class="keyword">false</span>, <span class="comment">//Exposure fusion can be used only with OpenCV3</span></div>
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<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keyword">const</span> ProgressState * state = 0,</div>
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<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0,</div>
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<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> blankValue = 255, <span class="comment">//Gray value for blank polygons (without texture)</span></div>
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<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">bool</span> clearVertexColorUnderTexture = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > * gains = 0, <span class="comment">// <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B></span></div>
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@@ -335,8 +352,8 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels, <span class="comment">// required output of util3d::createTextureMesh()</span></div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images, <span class="comment">// raw or compressed, can be empty if memory or dbDriver should be used</span></div>
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<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels, <span class="comment">// Should match images</span></div>
|
||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> Memory * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keyword">const</span> DBDriver * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
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||||
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0, <span class="comment">// Should be set if images are not set</span></div>
|
||||
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0, <span class="comment">// Should be set if images and memory are not set</span></div>
|
||||
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordtype">int</span> textureSize = 8192,</div>
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<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keyword">const</span> std::string & textureFormat = <span class="stringliteral">"jpg"</span>, <span class="comment">// png, jpg</span></div>
|
||||
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> > & gains = std::map<<span class="keywordtype">int</span>, std::map<int, cv::Vec4d> >(), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
@@ -344,7 +361,7 @@ $(document).ready(function() { init_codefold(0); });
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||||
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keyword">const</span> std::pair<float, float> & contrastValues = std::pair<float, float>(0,0), <span class="comment">// optional output of util3d::mergeTextures()</span></div>
|
||||
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordtype">bool</span> gainRGB = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> </div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT multiBandTexturing(</div>
|
||||
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a695eb29e9b2679634edb6b8c36a11942"> 302</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT multiBandTexturing(</div>
|
||||
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> <span class="keyword">const</span> std::string & outputOBJPath,</div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keyword">const</span> pcl::PCLPointCloud2 & cloud,</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> std::vector<pcl::Vertices> & polygons,</div>
|
||||
@@ -352,8 +369,8 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keyword">const</span> std::vector<std::map<int, pcl::PointXY> > & vertexToPixels,</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keyword">const</span> std::map<int, cv::Mat> & images,</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keyword">const</span> Memory * memory = 0,</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keyword">const</span> DBDriver * dbDriver = 0,</div>
|
||||
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory = 0,</div>
|
||||
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * dbDriver = 0,</div>
|
||||
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> textureSize = 8192,</div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> textureDownscale = 2,</div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keyword">const</span> std::string & nbContrib = <span class="stringliteral">"1 5 10 0"</span>,</div>
|
||||
@@ -596,7 +613,7 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">int</span> minClusterSize = 50, <span class="comment">// Remove small polygon clusters after the mesh has been cleaned (0=disabled)</span></div>
|
||||
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * progressState = 0);</div>
|
||||
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> </div>
|
||||
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT intersectRayTriangle(</div>
|
||||
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc"> 629</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc">intersectRayTriangle</a>(</div>
|
||||
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <span class="keyword">const</span> Eigen::Vector3f & p,</div>
|
||||
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="keyword">const</span> Eigen::Vector3f & dir,</div>
|
||||
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> <span class="keyword">const</span> Eigen::Vector3f & v0,</div>
|
||||
@@ -632,16 +649,26 @@ $(document).ready(function() { init_codefold(0); });
|
||||
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span><span class="preprocessor">#include "rtabmap/core/impl/util3d_surface.hpp"</span></div>
|
||||
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> </div>
|
||||
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_SURFACE_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html">rtabmap::DBDriver</a></div><div class="ttdoc">Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00071">DBDriver.h:72</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
|
||||
<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>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a8ea4368f2018d751d2733038081d56a2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">rtabmap::Transform::getIdentity</a></div><div class="ttdeci">static Transform getIdentity()</div><div class="ttdoc">Returns identity transform.</div></div>
|
||||
<div class="ttc" id="agroup__ComputeNormalsComplexity_html_ga3724a082502fbef6222c11843ca56b58"><div class="ttname"><a href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">rtabmap::util3d::computeNormalsComplexity</a></div><div class="ttdeci">float RTABMAP_CORE_EXPORT computeNormalsComplexity(const LaserScan &scan, const Transform &t=Transform::getIdentity(), cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)</div><div class="ttdoc">Computes the complexity of surface normals in a point cloud of type LaserScan.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a07466d3f99ac7f763ba476f65c99ebb0"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a07466d3f99ac7f763ba476f65c99ebb0">rtabmap::util3d::cleanTextureMesh</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT cleanTextureMesh(pcl::TextureMesh &textureMesh, int minClusterSize)</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a9ebe11bdf534e3bdbcb2802d5dd70e62"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62">rtabmap::util3d::createPolygonIndexes</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)</div><div class="ttdoc">Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_ab138227ab6c0511088e846b2276e7afc"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc">rtabmap::util3d::intersectRayTriangle</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aeec8dd0024231c36c089340895609238"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238">rtabmap::util3d::mergeTextures</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT mergeTextures(pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, CameraModel > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, bool clearVertexColorUnderTexture=true, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0)</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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|
||||
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Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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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><li class="navelem"><b>util3d_surface.h</b></li>
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