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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

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2026-08-02 07:56:38 +00:00
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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<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"><a class="el" href="dir_67ee77bab1d00e5527b3ba66cff8b822.html">impl</a></li> </ul>
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@@ -276,7 +293,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="comment">// filter polygons</span></div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> std::vector&lt;std::set&lt;int&gt; &gt; neighbors;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> std::vector&lt;std::set&lt;int&gt; &gt; vertexToPolygons;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> util3d::createPolygonIndexes(mesh-&gt;polygons,</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62">util3d::createPolygonIndexes</a>(mesh-&gt;polygons,</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> mesh-&gt;cloud.height*mesh-&gt;cloud.width,</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> neighbors,</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> vertexToPolygons);</div>
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<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(vert.vertices.size()==3);</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">float</span> d;</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> Eigen::Vector3f n;</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordflow">if</span> (intersectRayTriangle(origin, dir,</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordflow">if</span> (<a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab138227ab6c0511088e846b2276e7afc">intersectRayTriangle</a>(origin, dir,</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> cloud.at(vert.vertices.at(0)).getVector3fMap(),</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> cloud.at(vert.vertices.at(1)).getVector3fMap(),</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> cloud.at(vert.vertices.at(2)).getVector3fMap(), d, n) &amp;&amp;</div>
@@ -443,11 +460,17 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aUConversion_8h_html"><div class="ttname"><a href="UConversion_8h.html">UConversion.h</a></div><div class="ttdoc">Some conversion functions.</div></div>
<div class="ttc" id="aUConversion_8h_html_a59ad5e2b3368d3dd19d73a24159388ce"><div class="ttname"><a href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a></div><div class="ttdeci">std::string UTILITE_EXPORT uFormat(const char *fmt,...)</div></div>
<div class="ttc" id="aULogger_8h_html_ab3436168e27946669bbd4c76e4c4007e"><div class="ttname"><a href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a></div><div class="ttdeci">#define UASSERT(condition)</div><div class="ttdef"><b>Definition</b> <a href="ULogger_8h_source.html#l00066">ULogger.h:66</a></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&lt; pcl::Vertices &gt; &amp;polygons, int cloudSize, std::vector&lt; std::set&lt; int &gt; &gt; &amp;neighborPolygons, std::vector&lt; std::set&lt; int &gt; &gt; &amp;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 &amp;p, const Eigen::Vector3f &amp;dir, const Eigen::Vector3f &amp;v0, const Eigen::Vector3f &amp;v1, const Eigen::Vector3f &amp;v2, float &amp;distance, Eigen::Vector3f &amp;normal)</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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