From d24ced66086998d47bd0c437df2bbf2d87cd1b64 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Sat, 26 Sep 2026 22:28:04 +0000 Subject: [PATCH] Preview for PR #1773 386b7a1c3ffb7a8ba6fcddb2c6ab83037fe027c0 --- .../latest/namespacertabmap_1_1util3d.html | 3 - .../util3d__registration_8h_source.html | 192 +++++++++--------- preview/pr-1773/index.html | 2 +- 3 files changed, 95 insertions(+), 102 deletions(-) diff --git a/preview/pr-1773/api/latest/namespacertabmap_1_1util3d.html b/preview/pr-1773/api/latest/namespacertabmap_1_1util3d.html index d41667c4..c5b57b72 100644 --- a/preview/pr-1773/api/latest/namespacertabmap_1_1util3d.html +++ b/preview/pr-1773/api/latest/namespacertabmap_1_1util3d.html @@ -1072,9 +1072,6 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT void RTABMAP_CORE_EXPORT solvePnPRansac (const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)  Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.
  - -int RTABMAP_CORE_EXPORT getCorrespondencesCount (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance) -  Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)  Estimates the rigid 3D transformation between two point clouds using SVD.
  diff --git a/preview/pr-1773/api/latest/util3d__registration_8h_source.html b/preview/pr-1773/api/latest/util3d__registration_8h_source.html index 1640ffce..69147830 100644 --- a/preview/pr-1773/api/latest/util3d__registration_8h_source.html +++ b/preview/pr-1773/api/latest/util3d__registration_8h_source.html @@ -149,104 +149,100 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
41namespace util3d
42{
43
-
44int RTABMAP_CORE_EXPORT getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
-
45 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
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46 float maxDistance);
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47
-
68Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
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69 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
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70 const pcl::PointCloud<pcl::PointXYZ> & cloud2);
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71
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101Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
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102 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
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103 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
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104 double inlierThreshold = 0.02,
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105 int iterations = 100,
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106 int refineModelIterations = 10,
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107 double refineModelSigma = 3.0,
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108 std::vector<int> * inliers = 0,
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109 cv::Mat * variance = 0);
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110
-
139void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
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140 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
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141 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
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142 double maxCorrespondenceDistance,
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143 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
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144 double & variance,
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145 int & correspondencesOut,
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146 bool reciprocal);
-
148void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
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149 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
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150 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
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151 double maxCorrespondenceDistance,
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152 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
-
153 double & variance,
-
154 int & correspondencesOut,
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155 bool reciprocal);
-
157void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
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158 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
-
159 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
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160 double maxCorrespondenceDistance,
-
161 double & variance,
-
162 int & correspondencesOut,
-
163 bool reciprocal);
-
165void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
-
166 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
-
167 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
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168 double maxCorrespondenceDistance,
-
169 double & variance,
-
170 int & correspondencesOut,
-
171 bool reciprocal);
-
199Transform RTABMAP_CORE_EXPORT icp(
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200 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
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201 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
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202 double maxCorrespondenceDistance,
-
203 int maximumIterations,
-
204 bool & hasConverged,
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205 pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
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206 float epsilon = 0.0f,
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207 bool icp2D = false,
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208 float ransacOutlierRatio = 0.0f,
-
209 int * iterationsDone = nullptr);
-
218Transform RTABMAP_CORE_EXPORT icp(
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219 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
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220 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
-
221 double maxCorrespondenceDistance,
-
222 int maximumIterations,
-
223 bool & hasConverged,
-
224 pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
-
225 float epsilon = 0.0f,
-
226 bool icp2D = false,
-
227 float ransacOutlierRatio = 0.0f,
-
228 int * iterationsDone = nullptr);
-
229
-
255Transform RTABMAP_CORE_EXPORT icpPointToPlane(
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256 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
-
257 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
-
258 double maxCorrespondenceDistance,
-
259 int maximumIterations,
-
260 bool & hasConverged,
-
261 pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
-
262 float epsilon = 0.0f,
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263 bool icp2D = false,
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264 float ransacOutlierRatio = 0.0f,
-
265 int * iterationsDone = nullptr);
-
274Transform RTABMAP_CORE_EXPORT icpPointToPlane(
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275 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
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276 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
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277 double maxCorrespondenceDistance,
-
278 int maximumIterations,
-
279 bool & hasConverged,
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280 pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
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281 float epsilon = 0.0f,
-
282 bool icp2D = false,
-
283 float ransacOutlierRatio = 0.0f,
-
284 int * iterationsDone = nullptr);
-
285
-
286} // namespace util3d
-
287} // namespace rtabmap
-
288
-
289#endif /* UTIL3D_REGISTRATION_H_ */
+
64Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
+
65 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
+
66 const pcl::PointCloud<pcl::PointXYZ> & cloud2);
+
67
+
97Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
+
98 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
+
99 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
+
100 double inlierThreshold = 0.02,
+
101 int iterations = 100,
+
102 int refineModelIterations = 10,
+
103 double refineModelSigma = 3.0,
+
104 std::vector<int> * inliers = 0,
+
105 cv::Mat * variance = 0);
+
106
+
135void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
136 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
+
137 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
+
138 double maxCorrespondenceDistance,
+
139 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
+
140 double & variance,
+
141 int & correspondencesOut,
+
142 bool reciprocal);
+
144void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
145 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
+
146 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
+
147 double maxCorrespondenceDistance,
+
148 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
+
149 double & variance,
+
150 int & correspondencesOut,
+
151 bool reciprocal);
+
153void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
154 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
+
155 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
+
156 double maxCorrespondenceDistance,
+
157 double & variance,
+
158 int & correspondencesOut,
+
159 bool reciprocal);
+
161void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
162 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
+
163 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
+
164 double maxCorrespondenceDistance,
+
165 double & variance,
+
166 int & correspondencesOut,
+
167 bool reciprocal);
+
195Transform RTABMAP_CORE_EXPORT icp(
+
196 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
+
197 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
+
198 double maxCorrespondenceDistance,
+
199 int maximumIterations,
+
200 bool & hasConverged,
+
201 pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
+
202 float epsilon = 0.0f,
+
203 bool icp2D = false,
+
204 float ransacOutlierRatio = 0.0f,
+
205 int * iterationsDone = nullptr);
+
214Transform RTABMAP_CORE_EXPORT icp(
+
215 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
+
216 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
+
217 double maxCorrespondenceDistance,
+
218 int maximumIterations,
+
219 bool & hasConverged,
+
220 pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
+
221 float epsilon = 0.0f,
+
222 bool icp2D = false,
+
223 float ransacOutlierRatio = 0.0f,
+
224 int * iterationsDone = nullptr);
+
225
+
251Transform RTABMAP_CORE_EXPORT icpPointToPlane(
+
252 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
+
253 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
+
254 double maxCorrespondenceDistance,
+
255 int maximumIterations,
+
256 bool & hasConverged,
+
257 pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
+
258 float epsilon = 0.0f,
+
259 bool icp2D = false,
+
260 float ransacOutlierRatio = 0.0f,
+
261 int * iterationsDone = nullptr);
+
270Transform RTABMAP_CORE_EXPORT icpPointToPlane(
+
271 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
+
272 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
+
273 double maxCorrespondenceDistance,
+
274 int maximumIterations,
+
275 bool & hasConverged,
+
276 pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
+
277 float epsilon = 0.0f,
+
278 bool icp2D = false,
+
279 float ransacOutlierRatio = 0.0f,
+
280 int * iterationsDone = nullptr);
+
281
+
282} // namespace util3d
+
283} // namespace rtabmap
+
284
+
285#endif /* UTIL3D_REGISTRATION_H_ */
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap::util3d::computeVarianceAndCorrespondences
void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
Compute with variance and correspondences of pcl::PointNormal point cloud type.
rtabmap::util3d::transformFromXYZCorrespondencesSVD
Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
Estimates the rigid 3D transformation between two point clouds using SVD.
diff --git a/preview/pr-1773/index.html b/preview/pr-1773/index.html index 6a837f50..f1c0bfde 100644 --- a/preview/pr-1773/index.html +++ b/preview/pr-1773/index.html @@ -5,7 +5,7 @@ - + RTAB-Map | Real-Time Appearance-Based Mapping