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@@ -185,45 +185,54 @@ $(document).ready(function(){initNavTree('LocalGridMaker_8h_source.html',''); in
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> cv::Mat & emptyCells,</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> cv::Point3f & viewPointInOut) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cloudDecimation_;</div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">float</span> rangeMax_;</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">float</span> rangeMin_;</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> std::vector<float> roiRatios_;</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">float</span> footprintLength_;</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">float</span> footprintWidth_;</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">float</span> footprintHeight_;</div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">int</span> scanDecimation_;</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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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">bool</span> preVoxelFiltering_;</div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">int</span> occupancySensor_;</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">bool</span> projMapFrame_;</div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> maxObstacleHeight_;</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">int</span> normalKSearch_;</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> groundNormalsUp_;</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">float</span> maxGroundAngle_;</div>
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> clusterRadius_;</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">int</span> minClusterSize_;</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">bool</span> flatObstaclesDetected_;</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">float</span> minGroundHeight_;</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">float</span> maxGroundHeight_;</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> normalsSegmentation_;</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> grid3D_;</div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordtype">bool</span> groundIsObstacle_;</div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">float</span> noiseFilteringRadius_;</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">int</span> noiseFilteringMinNeighbors_;</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">bool</span> scan2dUnknownSpaceFilled_;</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">bool</span> rayTracing_;</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span>};</div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</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="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keyword">static</span> pcl::IndicesPtr noiseFilteringWithMaxRange(</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</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="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> maxRange,</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> radiusSearch,</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">int</span> minNeighborsInRadius);</div>
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> </div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cloudDecimation_;</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">float</span> rangeMax_;</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">float</span> rangeMin_;</div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> std::vector<float> roiRatios_;</div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">float</span> footprintLength_;</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">float</span> footprintWidth_;</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">float</span> footprintHeight_;</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">int</span> scanDecimation_;</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">float</span> cellSize_;</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">bool</span> preVoxelFiltering_;</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordtype">int</span> occupancySensor_;</div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="keywordtype">bool</span> projMapFrame_;</div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">float</span> maxObstacleHeight_;</div>
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<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keywordtype">int</span> normalKSearch_;</div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">float</span> groundNormalsUp_;</div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">float</span> maxGroundAngle_;</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">float</span> clusterRadius_;</div>
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordtype">int</span> minClusterSize_;</div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">bool</span> flatObstaclesDetected_;</div>
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">float</span> minGroundHeight_;</div>
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">float</span> maxGroundHeight_;</div>
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">bool</span> normalsSegmentation_;</div>
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">bool</span> grid3D_;</div>
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">bool</span> groundIsObstacle_;</div>
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<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">float</span> noiseFilteringRadius_;</div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">int</span> noiseFilteringMinNeighbors_;</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordtype">bool</span> scan2dUnknownSpaceFilled_;</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">bool</span> rayTracing_;</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span>};</div>
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</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> </div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span><span class="preprocessor">#include <rtabmap/core/impl/LocalMapMaker.hpp></span></div>
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<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span><span class="preprocessor">#endif </span><span class="comment">/* SRC_LOCAL_MAP_H_ */</span><span class="preprocessor"></span></div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span>} <span class="comment">/* namespace rtabmap */</span></div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span><span class="preprocessor">#include <rtabmap/core/impl/LocalMapMaker.hpp></span></div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span><span class="preprocessor">#endif </span><span class="comment">/* SRC_LOCAL_MAP_H_ */</span><span class="preprocessor"></span></div>
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<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>
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<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html">rtabmap::LocalGridMaker</a></div><div class="ttdoc">Builds per-node local occupancy grids from laser scans or depth clouds.</div><div class="ttdef"><b>Definition</b> <a href="LocalGridMaker_8h_source.html#l00064">LocalGridMaker.h:65</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_a305865c8f98b498b13a35ef0b790f926"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926">rtabmap::LocalGridMaker::getCellSize</a></div><div class="ttdeci">float getCellSize() const</div><div class="ttdef"><b>Definition</b> <a href="LocalGridMaker_8h_source.html#l00075">LocalGridMaker.h:75</a></div></div>
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@@ -137,238 +137,232 @@ $(document).ready(function(){initNavTree('LocalMapMaker_8hpp_source.html',''); i
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include <rtabmap/core/util3d_mapping.h></span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <rtabmap/core/util3d_transforms.h></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <<a class="code" href="ULogger_8h.html">rtabmap/utilite/ULogger.h</a>></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</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="foldopen" id="foldopen00038" data-start="{" data-end="}">
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda"> 38</a></span><span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda">LocalGridMaker::segmentCloud</a>(</div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloudIn,</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesIn,</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose,</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">const</span> cv::Point3f & viewPoint,</div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> pcl::IndicesPtr & groundIndices,</div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> pcl::IndicesPtr & obstaclesIndices,</div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> pcl::IndicesPtr * flatObstacles)<span class="keyword"> const</span></div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword"></span>{</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> groundIndices.reset(<span class="keyword">new</span> std::vector<int>);</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> obstaclesIndices.reset(<span class="keyword">new</span> std::vector<int>);</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keywordflow">if</span>(flatObstacles)</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> {</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> flatObstacles->reset(<span class="keyword">new</span> std::vector<int>);</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> }</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> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(cloudIn.get());</div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(indicesIn.get());</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keywordflow">if</span>(cloudIn->empty())</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> {</div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordflow">return</span> cloudIn;</div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <rtabmap/core/util3d_filtering.h></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <rtabmap/core/util3d_transforms.h></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <<a class="code" href="ULogger_8h.html">rtabmap/utilite/ULogger.h</a>></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
|
||||
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>pcl::IndicesPtr LocalGridMaker::noiseFilteringWithMaxRange(</div>
|
||||
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
|
||||
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
|
||||
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keywordtype">float</span> maxRange,</div>
|
||||
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <span class="keywordtype">float</span> radiusSearch,</div>
|
||||
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="keywordtype">int</span> minNeighborsInRadius)</div>
|
||||
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span>{</div>
|
||||
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="comment">// util3d::radiusFiltering() would filter the whole cloud if the indices are empty</span></div>
|
||||
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(indices.get() && !indices->empty());</div>
|
||||
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> pcl::IndicesPtr closeIndices = indices;</div>
|
||||
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> pcl::IndicesPtr farIndices;</div>
|
||||
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keywordflow">if</span>(maxRange != 0.0f)</div>
|
||||
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> {</div>
|
||||
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="comment">// Don't filter points farther than maximum range, in case we want to ray trace empty space</span></div>
|
||||
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_function" href="group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446">util3d::rangeSplitFiltering</a>(cloud, indices, maxRange, closeIndices, farIndices);</div>
|
||||
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> }</div>
|
||||
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordflow">if</span>(closeIndices->size())</div>
|
||||
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> {</div>
|
||||
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="comment">// Note: radiusFiltering() would filter the whole cloud if indices are empty</span></div>
|
||||
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> closeIndices = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">util3d::radiusFiltering</a>(cloud, closeIndices, radiusSearch, minNeighborsInRadius);</div>
|
||||
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> }</div>
|
||||
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
|
||||
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr cloud(<span class="keyword">new</span> pcl::PointCloud<PointT>);</div>
|
||||
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> pcl::IndicesPtr indices(<span class="keyword">new</span> std::vector<int>);</div>
|
||||
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
|
||||
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordflow">if</span>(preVoxelFiltering_)</div>
|
||||
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> {</div>
|
||||
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="comment">// voxelize to grid cell size</span></div>
|
||||
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> cloud = <a class="code hl_function" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89">util3d::voxelize</a>(cloudIn, indicesIn, cellSize_);</div>
|
||||
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
|
||||
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> indices->resize(cloud->size());</div>
|
||||
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<indices->size(); ++i)</div>
|
||||
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> {</div>
|
||||
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> indices->at(i) = i;</div>
|
||||
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> }</div>
|
||||
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> }</div>
|
||||
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> {</div>
|
||||
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> cloud = cloudIn;</div>
|
||||
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordflow">if</span>(indicesIn->empty() && cloud->is_dense)</div>
|
||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> {</div>
|
||||
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> indices->resize(cloud->size());</div>
|
||||
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<indices->size(); ++i)</div>
|
||||
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> {</div>
|
||||
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> indices->at(i) = i;</div>
|
||||
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> }</div>
|
||||
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> }</div>
|
||||
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> {</div>
|
||||
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> indices = indicesIn;</div>
|
||||
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> }</div>
|
||||
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> }</div>
|
||||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
|
||||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordflow">if</span>(cloud->empty())</div>
|
||||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> {</div>
|
||||
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordflow">return</span> cloud;</div>
|
||||
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> }</div>
|
||||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
|
||||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="comment">// add pose rotation without yaw</span></div>
|
||||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordtype">float</span> roll, pitch, yaw;</div>
|
||||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525">getEulerAngles</a>(roll, pitch, yaw);</div>
|
||||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"node.getPose()=%s projMapFrame_=%d"</span>, pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818">prettyPrint</a>().c_str(), projMapFrame_?1:0);</div>
|
||||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> cloud = <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">util3d::transformPointCloud</a>(cloud, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(0,0, projMapFrame_?pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">z</a>():0, roll, pitch, 0));</div>
|
||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
|
||||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="comment">// filter footprint</span></div>
|
||||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordflow">if</span>(footprintLength_ > 0.0f || footprintWidth_ > 0.0f || footprintHeight_ > 0.0f)</div>
|
||||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> {</div>
|
||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> indices = <a class="code hl_function" href="group__CropBox.html#ga8291151381ff38773e641740b66b93ef">util3d::cropBox</a>(</div>
|
||||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> cloud,</div>
|
||||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> indices,</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> Eigen::Vector4f(</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> footprintLength_>0.0f?-footprintLength_/2.0f:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> footprintWidth_>0.0f&&footprintLength_>0.0f?-footprintWidth_/2.0f:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> 0,</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> 1),</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> Eigen::Vector4f(</div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> footprintLength_>0.0f?footprintLength_/2.0f:std::numeric_limits<int>::max(),</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> footprintWidth_>0.0f&&footprintLength_>0.0f?footprintWidth_/2.0f:std::numeric_limits<int>::max(),</div>
|
||||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> footprintHeight_>0.0f&&footprintLength_>0.0f&&footprintWidth_>0.0f?footprintHeight_:std::numeric_limits<int>::max(),</div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> 1),</div>
|
||||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> }</div>
|
||||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> </div>
|
||||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="comment">// filter ground/obstacles zone</span></div>
|
||||
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordflow">if</span>(minGroundHeight_ != 0.0f || maxObstacleHeight_ != 0.0f)</div>
|
||||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> {</div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> indices = <a class="code hl_function" href="group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473">util3d::passThrough</a>(cloud, indices, <span class="stringliteral">"z"</span>,</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> maxObstacleHeight_>0.0f?maxObstacleHeight_:std::numeric_limits<int>::max());</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"indices after max obstacles height filtering = %d"</span>, (<span class="keywordtype">int</span>)indices->size());</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> }</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordflow">if</span>(indices->size())</div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> {</div>
|
||||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordflow">if</span>(normalsSegmentation_ && !groundIsObstacle_)</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> {</div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"normalKSearch=%d"</span>, normalKSearch_);</div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"maxGroundAngle=%f"</span>, maxGroundAngle_);</div>
|
||||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"Cluster radius=%f"</span>, clusterRadius_);</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"flatObstaclesDetected=%d"</span>, flatObstaclesDetected_?1:0);</div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"maxGroundHeight=%f"</span>, maxGroundHeight_);</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"groundNormalsUp=%f"</span>, groundNormalsUp_);</div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> util3d::segmentObstaclesFromGround<PointT>(</div>
|
||||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> cloud,</div>
|
||||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> indices,</div>
|
||||
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> groundIndices,</div>
|
||||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> obstaclesIndices,</div>
|
||||
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> normalKSearch_,</div>
|
||||
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> maxGroundAngle_,</div>
|
||||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> clusterRadius_,</div>
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> minClusterSize_,</div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> flatObstaclesDetected_,</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> maxGroundHeight_,</div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> flatObstacles,</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> Eigen::Vector4f(viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">z</a>():0), 1),</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> groundNormalsUp_);</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"viewPoint=%f,%f,%f"</span>, viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">z</a>():0));</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="comment">//UWARN("Saving ground.pcd and obstacles.pcd");</span></div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="comment">//pcl::io::savePCDFile("ground.pcd", *cloud, *groundIndices);</span></div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="comment">//pcl::io::savePCDFile("obstacles.pcd", *cloud, *obstaclesIndices);</span></div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> }</div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> {</div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">""</span>);</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="comment">// passthrough filter</span></div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> groundIndices = <a class="code hl_function" href="group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473">rtabmap::util3d::passThrough</a>(cloud, indices, <span class="stringliteral">"z"</span>,</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> maxGroundHeight_!=0.0f?maxGroundHeight_:std::numeric_limits<int>::max());</div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> pcl::IndicesPtr notObstacles = groundIndices;</div>
|
||||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordflow">if</span>(indices->size())</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> {</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> notObstacles = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">util3d::extractIndices</a>(cloud, indices, <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> notObstacles = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">util3d::concatenate</a>(notObstacles, groundIndices);</div>
|
||||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> }</div>
|
||||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> obstaclesIndices = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">rtabmap::util3d::extractIndices</a>(cloud, notObstacles, <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> }</div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"groundIndices=%d obstaclesIndices=%d"</span>, (<span class="keywordtype">int</span>)groundIndices->size(), (<span class="keywordtype">int</span>)obstaclesIndices->size());</div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="comment">// Do radius filtering after voxel filtering ( a lot faster)</span></div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordflow">if</span>(noiseFilteringRadius_ > 0.0 && noiseFilteringMinNeighbors_ > 0)</div>
|
||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> {</div>
|
||||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"Radius filtering (%ld ground %ld obstacles, radius=%f k=%d)"</span>,</div>
|
||||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> groundIndices->size(),</div>
|
||||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0),</div>
|
||||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> noiseFilteringRadius_,</div>
|
||||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordflow">if</span>(groundIndices->size())</div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> {</div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> pcl::IndicesPtr farIndices;</div>
|
||||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordflow">if</span>(rangeMax_!=0)</div>
|
||||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> {</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="comment">// Don't filter points farther than maximum range, in case we want to ray trace empty space</span></div>
|
||||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> pcl::IndicesPtr closeIndices;</div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <a class="code hl_function" href="group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446">rtabmap::util3d::rangeSplitFiltering</a>(cloud, groundIndices, rangeMax_, closeIndices, farIndices);</div>
|
||||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> groundIndices = closeIndices;</div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> }</div>
|
||||
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> groundIndices = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordflow">if</span>(farIndices.get())</div>
|
||||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> {</div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> groundIndices = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(groundIndices, farIndices);</div>
|
||||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> }</div>
|
||||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> }</div>
|
||||
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordflow">if</span>(obstaclesIndices->size())</div>
|
||||
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> {</div>
|
||||
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> pcl::IndicesPtr farIndices;</div>
|
||||
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordflow">if</span>(rangeMax_!=0)</div>
|
||||
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> {</div>
|
||||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="comment">// Don't filter points farther than maximum range, in case we want to ray trace empty space</span></div>
|
||||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> pcl::IndicesPtr closeIndices;</div>
|
||||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <a class="code hl_function" href="group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446">rtabmap::util3d::rangeSplitFiltering</a>(cloud, obstaclesIndices, rangeMax_, closeIndices, farIndices);</div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> obstaclesIndices = closeIndices;</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> }</div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> obstaclesIndices = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordflow">if</span>(farIndices.get())</div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> {</div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> obstaclesIndices = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(obstaclesIndices, farIndices);</div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> }</div>
|
||||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> }</div>
|
||||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordflow">if</span>(flatObstacles && (*flatObstacles)->size())</div>
|
||||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> {</div>
|
||||
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> pcl::IndicesPtr farIndices;</div>
|
||||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordflow">if</span>(rangeMax_!=0)</div>
|
||||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> {</div>
|
||||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="comment">// Don't filter points farther than maximum range, in case we want to ray trace empty space</span></div>
|
||||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> pcl::IndicesPtr closeIndices;</div>
|
||||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <a class="code hl_function" href="group__PointCloudSplitRangeFiltering.html#ga2dfe5eefc31a50912297f6341eae4446">rtabmap::util3d::rangeSplitFiltering</a>(cloud, *flatObstacles, rangeMax_, closeIndices, farIndices);</div>
|
||||
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> *flatObstacles = closeIndices;</div>
|
||||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> }</div>
|
||||
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> *flatObstacles = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordflow">if</span>(farIndices.get())</div>
|
||||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> {</div>
|
||||
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> *flatObstacles = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(*flatObstacles, farIndices);</div>
|
||||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> }</div>
|
||||
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> }</div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"Radius filtering end (%ld ground %ld obstacles)"</span>,</div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> groundIndices->size(),</div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0));</div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordflow">if</span>(groundIndices->empty() && obstaclesIndices->empty())</div>
|
||||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> {</div>
|
||||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <a class="code hl_define" href="ULogger_8h.html#ab5a739ad9340455e46eaa570f8223d9a">UWARN</a>(<span class="stringliteral">"Cloud (with %d points) is empty after noise "</span></div>
|
||||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="stringliteral">"filtering. Occupancy grid cannot be "</span></div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="stringliteral">"created."</span>,</div>
|
||||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> (<span class="keywordtype">int</span>)cloud->size());</div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
|
||||
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> }</div>
|
||||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> }</div>
|
||||
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> }</div>
|
||||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> <span class="keywordflow">return</span> cloud;</div>
|
||||
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span>}</div>
|
||||
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordflow">if</span>(farIndices.get())</div>
|
||||
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> {</div>
|
||||
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> closeIndices = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">util3d::concatenate</a>(closeIndices, farIndices);</div>
|
||||
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> }</div>
|
||||
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordflow">return</span> closeIndices;</div>
|
||||
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>}</div>
|
||||
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
|
||||
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
|
||||
<div class="foldopen" id="foldopen00068" data-start="{" data-end="}">
|
||||
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda"> 68</a></span><span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda">LocalGridMaker::segmentCloud</a>(</div>
|
||||
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloudIn,</div>
|
||||
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesIn,</div>
|
||||
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose,</div>
|
||||
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keyword">const</span> cv::Point3f & viewPoint,</div>
|
||||
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> pcl::IndicesPtr & groundIndices,</div>
|
||||
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> pcl::IndicesPtr & obstaclesIndices,</div>
|
||||
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> pcl::IndicesPtr * flatObstacles)<span class="keyword"> const</span></div>
|
||||
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span><span class="keyword"></span>{</div>
|
||||
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> groundIndices.reset(<span class="keyword">new</span> std::vector<int>);</div>
|
||||
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> obstaclesIndices.reset(<span class="keyword">new</span> std::vector<int>);</div>
|
||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordflow">if</span>(flatObstacles)</div>
|
||||
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> {</div>
|
||||
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> flatObstacles->reset(<span class="keyword">new</span> std::vector<int>);</div>
|
||||
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> }</div>
|
||||
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
|
||||
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(cloudIn.get());</div>
|
||||
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(indicesIn.get());</div>
|
||||
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keywordflow">if</span>(cloudIn->empty())</div>
|
||||
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> {</div>
|
||||
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keywordflow">return</span> cloudIn;</div>
|
||||
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> }</div>
|
||||
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
|
||||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr cloud(<span class="keyword">new</span> pcl::PointCloud<PointT>);</div>
|
||||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> pcl::IndicesPtr indices(<span class="keyword">new</span> std::vector<int>);</div>
|
||||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div>
|
||||
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordflow">if</span>(preVoxelFiltering_)</div>
|
||||
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> {</div>
|
||||
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="comment">// voxelize to grid cell size</span></div>
|
||||
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> cloud = <a class="code hl_function" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89">util3d::voxelize</a>(cloudIn, indicesIn, cellSize_);</div>
|
||||
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
|
||||
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> indices->resize(cloud->size());</div>
|
||||
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<indices->size(); ++i)</div>
|
||||
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> {</div>
|
||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> indices->at(i) = i;</div>
|
||||
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> }</div>
|
||||
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> }</div>
|
||||
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> {</div>
|
||||
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> cloud = cloudIn;</div>
|
||||
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordflow">if</span>(indicesIn->empty() && cloud->is_dense)</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> {</div>
|
||||
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> indices->resize(cloud->size());</div>
|
||||
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i=0; i<indices->size(); ++i)</div>
|
||||
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> {</div>
|
||||
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> indices->at(i) = i;</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> }</div>
|
||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> }</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> {</div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> indices = indicesIn;</div>
|
||||
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> }</div>
|
||||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> }</div>
|
||||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
|
||||
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordflow">if</span>(cloud->empty())</div>
|
||||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> {</div>
|
||||
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordflow">return</span> cloud;</div>
|
||||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> }</div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="comment">// add pose rotation without yaw</span></div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">float</span> roll, pitch, yaw;</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525">getEulerAngles</a>(roll, pitch, yaw);</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"node.getPose()=%s projMapFrame_=%d"</span>, pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818">prettyPrint</a>().c_str(), projMapFrame_?1:0);</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> cloud = <a class="code hl_function" href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">util3d::transformPointCloud</a>(cloud, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(0,0, projMapFrame_?pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">z</a>():0, roll, pitch, 0));</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="comment">// filter footprint</span></div>
|
||||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordflow">if</span>(footprintLength_ > 0.0f || footprintWidth_ > 0.0f || footprintHeight_ > 0.0f)</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> {</div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> indices = <a class="code hl_function" href="group__CropBox.html#ga8291151381ff38773e641740b66b93ef">util3d::cropBox</a>(</div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> cloud,</div>
|
||||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> indices,</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> Eigen::Vector4f(</div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> footprintLength_>0.0f?-footprintLength_/2.0f:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> footprintWidth_>0.0f&&footprintLength_>0.0f?-footprintWidth_/2.0f:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> 0,</div>
|
||||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> 1),</div>
|
||||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> Eigen::Vector4f(</div>
|
||||
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> footprintLength_>0.0f?footprintLength_/2.0f:std::numeric_limits<int>::max(),</div>
|
||||
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> footprintWidth_>0.0f&&footprintLength_>0.0f?footprintWidth_/2.0f:std::numeric_limits<int>::max(),</div>
|
||||
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> footprintHeight_>0.0f&&footprintLength_>0.0f&&footprintWidth_>0.0f?footprintHeight_:std::numeric_limits<int>::max(),</div>
|
||||
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> 1),</div>
|
||||
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
|
||||
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> }</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="comment">// filter ground/obstacles zone</span></div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordflow">if</span>(minGroundHeight_ != 0.0f || maxObstacleHeight_ != 0.0f)</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> {</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> indices = <a class="code hl_function" href="group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473">util3d::passThrough</a>(cloud, indices, <span class="stringliteral">"z"</span>,</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> maxObstacleHeight_>0.0f?maxObstacleHeight_:std::numeric_limits<int>::max());</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"indices after max obstacles height filtering = %d"</span>, (<span class="keywordtype">int</span>)indices->size());</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> }</div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> </div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordflow">if</span>(indices->size())</div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> {</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordflow">if</span>(normalsSegmentation_ && !groundIsObstacle_)</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> {</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"normalKSearch=%d"</span>, normalKSearch_);</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"maxGroundAngle=%f"</span>, maxGroundAngle_);</div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"Cluster radius=%f"</span>, clusterRadius_);</div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"flatObstaclesDetected=%d"</span>, flatObstaclesDetected_?1:0);</div>
|
||||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"maxGroundHeight=%f"</span>, maxGroundHeight_);</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"groundNormalsUp=%f"</span>, groundNormalsUp_);</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> util3d::segmentObstaclesFromGround<PointT>(</div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> cloud,</div>
|
||||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> indices,</div>
|
||||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> groundIndices,</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> obstaclesIndices,</div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> normalKSearch_,</div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> maxGroundAngle_,</div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> clusterRadius_,</div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> minClusterSize_,</div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> flatObstaclesDetected_,</div>
|
||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> maxGroundHeight_,</div>
|
||||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> flatObstacles,</div>
|
||||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> Eigen::Vector4f(viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">z</a>():0), 1),</div>
|
||||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> groundNormalsUp_);</div>
|
||||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"viewPoint=%f,%f,%f"</span>, viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.<a class="code hl_function" href="classrtabmap_1_1Transform.html#af90acc40bed06ab96468fd17585f1944">z</a>():0));</div>
|
||||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="comment">//UWARN("Saving ground.pcd and obstacles.pcd");</span></div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="comment">//pcl::io::savePCDFile("ground.pcd", *cloud, *groundIndices);</span></div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="comment">//pcl::io::savePCDFile("obstacles.pcd", *cloud, *obstaclesIndices);</span></div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> }</div>
|
||||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordflow">else</span></div>
|
||||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> {</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">""</span>);</div>
|
||||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="comment">// passthrough filter</span></div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> groundIndices = <a class="code hl_function" href="group__PassThrough.html#ga7bfc95ed4f7fca124b00707708223473">rtabmap::util3d::passThrough</a>(cloud, indices, <span class="stringliteral">"z"</span>,</div>
|
||||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),</div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> maxGroundHeight_!=0.0f?maxGroundHeight_:std::numeric_limits<int>::max());</div>
|
||||
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> </div>
|
||||
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> pcl::IndicesPtr notObstacles = groundIndices;</div>
|
||||
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordflow">if</span>(indices->size())</div>
|
||||
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> {</div>
|
||||
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> notObstacles = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">util3d::extractIndices</a>(cloud, indices, <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> notObstacles = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">util3d::concatenate</a>(notObstacles, groundIndices);</div>
|
||||
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> }</div>
|
||||
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> obstaclesIndices = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">rtabmap::util3d::extractIndices</a>(cloud, notObstacles, <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> }</div>
|
||||
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
|
||||
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"groundIndices=%d obstaclesIndices=%d"</span>, (<span class="keywordtype">int</span>)groundIndices->size(), (<span class="keywordtype">int</span>)obstaclesIndices->size());</div>
|
||||
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
|
||||
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="comment">// Do radius filtering after voxel filtering ( a lot faster)</span></div>
|
||||
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordflow">if</span>(noiseFilteringRadius_ > 0.0 && noiseFilteringMinNeighbors_ > 0)</div>
|
||||
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> {</div>
|
||||
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"Radius filtering (%ld ground %ld obstacles, radius=%f k=%d)"</span>,</div>
|
||||
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> groundIndices->size(),</div>
|
||||
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0),</div>
|
||||
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> noiseFilteringRadius_,</div>
|
||||
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordflow">if</span>(groundIndices->size())</div>
|
||||
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> {</div>
|
||||
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> groundIndices = noiseFilteringWithMaxRange<PointT>(cloud, groundIndices, rangeMax_, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> }</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordflow">if</span>(obstaclesIndices->size())</div>
|
||||
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> {</div>
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||||
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> obstaclesIndices = noiseFilteringWithMaxRange<PointT>(cloud, obstaclesIndices, rangeMax_, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> }</div>
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||||
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordflow">if</span>(flatObstacles && (*flatObstacles)->size())</div>
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||||
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> {</div>
|
||||
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> *flatObstacles = noiseFilteringWithMaxRange<PointT>(cloud, *flatObstacles, rangeMax_, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
|
||||
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> }</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">"Radius filtering end (%ld ground %ld obstacles)"</span>,</div>
|
||||
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> groundIndices->size(),</div>
|
||||
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0));</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
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||||
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordflow">if</span>(groundIndices->empty() && obstaclesIndices->empty())</div>
|
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> {</div>
|
||||
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <a class="code hl_define" href="ULogger_8h.html#ab5a739ad9340455e46eaa570f8223d9a">UWARN</a>(<span class="stringliteral">"Cloud (with %d points) is empty after noise "</span></div>
|
||||
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="stringliteral">"filtering. Occupancy grid cannot be "</span></div>
|
||||
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="stringliteral">"created."</span>,</div>
|
||||
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> (<span class="keywordtype">int</span>)cloud->size());</div>
|
||||
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
|
||||
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> }</div>
|
||||
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> }</div>
|
||||
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> }</div>
|
||||
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordflow">return</span> cloud;</div>
|
||||
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span>}</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> </div>
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||||
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span>}</div>
|
||||
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> </div>
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||||
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> </div>
|
||||
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
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<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span>}</div>
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||||
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> </div>
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<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> </div>
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||||
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aULogger_8h_html"><div class="ttname"><a href="ULogger_8h.html">ULogger.h</a></div><div class="ttdoc">ULogger class and convenient macros.</div></div>
|
||||
<div class="ttc" id="aULogger_8h_html_a9104cb408bf9019db2a2c4476835db4a"><div class="ttname"><a href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a></div><div class="ttdeci">#define UDEBUG(...)</div><div class="ttdef"><b>Definition</b> <a href="ULogger_8h_source.html#l00059">ULogger.h:59</a></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="aULogger_8h_html_ab5a739ad9340455e46eaa570f8223d9a"><div class="ttname"><a href="ULogger_8h.html#ab5a739ad9340455e46eaa570f8223d9a">UWARN</a></div><div class="ttdeci">#define UWARN(...)</div><div class="ttdef"><b>Definition</b> <a href="ULogger_8h_source.html#l00061">ULogger.h:61</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_ad54b92f6d04b76a550483a7a68f45bda"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda">rtabmap::LocalGridMaker::segmentCloud</a></div><div class="ttdeci">pcl::PointCloud< PointT >::Ptr segmentCloud(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const</div><div class="ttdoc">Segments a point cloud into ground and obstacle indices.</div><div class="ttdef"><b>Definition</b> <a href="LocalMapMaker_8hpp_source.html#l00038">LocalMapMaker.hpp:38</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1LocalGridMaker_html_ad54b92f6d04b76a550483a7a68f45bda"><div class="ttname"><a href="classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda">rtabmap::LocalGridMaker::segmentCloud</a></div><div class="ttdeci">pcl::PointCloud< PointT >::Ptr segmentCloud(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const</div><div class="ttdoc">Segments a point cloud into ground and obstacle indices.</div><div class="ttdef"><b>Definition</b> <a href="LocalMapMaker_8hpp_source.html#l00068">LocalMapMaker.hpp:68</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_a61ff0bf933e0e7f220f20745df3d0818"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a61ff0bf933e0e7f220f20745df3d0818">rtabmap::Transform::prettyPrint</a></div><div class="ttdeci">std::string prettyPrint() const</div><div class="ttdoc">Returns a string representation of the transform.</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>
|
||||
|
||||
@@ -373,7 +373,7 @@ template<typename PointT > </div>
|
||||
</dl>
|
||||
<dl class="section return"><dt>Returns</dt><dd>Segmented cloud (voxel-downsampled when <code>Grid/PreVoxelFiltering</code> is true, using <code>Grid/CellSize</code>). </dd></dl>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="LocalMapMaker_8hpp_source.html#l00038">38</a> of file <a class="el" href="LocalMapMaker_8hpp_source.html">LocalMapMaker.hpp</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="LocalMapMaker_8hpp_source.html#l00068">68</a> of file <a class="el" href="LocalMapMaker_8hpp_source.html">LocalMapMaker.hpp</a>.</p>
|
||||
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||||
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00152">152</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00172">172</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00154">154</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00174">174</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00155">155</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00175">175</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00156">156</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00176">176</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00157">157</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00177">177</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00158">158</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00178">178</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00159">159</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00179">179</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00160">160</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00180">180</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00161">161</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00181">181</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00162">162</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00182">182</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00163">163</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00183">183</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00164">164</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00184">184</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00165">165</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00185">185</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00166">166</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00186">186</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00167">167</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00187">187</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00168">168</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00188">188</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00169">169</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00189">189</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00170">170</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00190">190</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00171">171</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00191">191</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00172">172</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00192">192</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00173">173</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00193">193</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00174">174</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00194">194</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00175">175</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00195">195</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00176">176</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00196">196</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00177">177</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00197">197</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00178">178</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00198">198</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00179">179</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00199">199</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00180">180</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00200">200</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
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||||
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00181">181</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
|
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<p class="definition">Definition at line <a class="el" href="LocalGridMaker_8h_source.html#l00201">201</a> of file <a class="el" href="LocalGridMaker_8h_source.html">LocalGridMaker.h</a>.</p>
|
||||
|
||||
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|
||||
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|
||||
|
||||
Reference in New Issue
Block a user