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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef UTIL3D_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define UTIL3D_H_</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/rtabmap_core_export.h"</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <pcl/point_cloud.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 <pcl/point_types.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <pcl/pcl_base.h></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <pcl/TextureMesh.h></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <rtabmap/core/SensorData.h></span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <rtabmap/core/Parameters.h></span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <rtabmap/core/ProgressState.h></span></div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include <cstdint></span></div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <map></span></div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include <list></span></div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span>{</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span><span class="comment">// Point type carrying xyz + intensity + ring (laser line index) + time</span></div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="comment">// (per-point acquisition offset, seconds from the scan start). Matches the</span></div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span><span class="comment">// layout expected by LIO-SAM's Velodyne feature extractor so it can be fed</span></div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span><span class="comment">// directly via util3d::laserScanFromPointCloud().</span></div>
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<div class="foldopen" id="foldopen00057" data-start="{" data-end="};">
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="structrtabmap_1_1PointXYZIRT.html"> 57</a></span><span class="keyword">struct </span>EIGEN_ALIGN16 <a class="code hl_struct" href="structrtabmap_1_1PointXYZIRT.html">PointXYZIRT</a></div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span>{</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> PCL_ADD_POINT4D;</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">float</span> intensity;</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> std::uint16_t ring;</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordtype">float</span> time;</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span>};</div>
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</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span>{</div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> </div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b"> 93</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b">rgbFromCloud</a>(</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d"> 111</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d">depthFromCloud</a>(</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76"> 130</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76">rgbdFromCloud</a>(</div>
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<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5"> 155</a></span>pcl::PointXYZ RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5">projectDepthTo3D</a>(</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">bool</span> smoothing,</div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">float</span> depthErrorRatio = 0.02f);</div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> </div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f"> 179</a></span>Eigen::Vector3f RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f">projectDepthTo3DRay</a>(</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy);</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249"> 207</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">cloudFromDepth</a>(</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a9fa0222fe9a7f74fcfa4c04c0c2dd532"> 230</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">cloudFromDepth</a>(</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
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<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">cloudFromDepth</a>(</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keyword">const</span> cv::Mat & imageDepthConfidence,</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
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<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0,</div>
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<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
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<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c"> 272</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">cloudFromDepthRGB</a>(</div>
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<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
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<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
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<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a64b369873a01960576cb34aab4c5a319"> 303</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">cloudFromDepthRGB</a>(</div>
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<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
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<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
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<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">cloudFromDepthRGB</a>(</div>
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<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
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<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keyword">const</span> cv::Mat & imageDepthConfidence,</div>
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<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model,</div>
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<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0, <span class="comment">// 0=low, 100=high</span></div>
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<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> </div>
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<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71"> 351</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71">cloudFromDisparity</a>(</div>
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<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
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<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
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<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> </div>
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<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e"> 392</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e">cloudFromDisparityRGB</a>(</div>
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<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
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<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
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<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
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<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
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<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc"> 437</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc">cloudFromStereoImages</a>(</div>
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<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="keyword">const</span> cv::Mat & imageLeft,</div>
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<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> <span class="keyword">const</span> cv::Mat & imageRight,</div>
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<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model,</div>
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<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> std::vector<int> * validIndices = 0,</div>
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<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> </div>
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<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa"> 485</a></span>std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa">cloudsFromSensorData</a>(</div>
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<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
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<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> std::vector<pcl::IndicesPtr> * validIndices = 0,</div>
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<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
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<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div>
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<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66"> 523</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66">cloudFromSensorData</a>(</div>
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<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
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<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> std::vector<int> * validIndices = 0,</div>
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<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
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<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> </div>
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<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e"> 565</a></span>std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e">cloudsRGBFromSensorData</a>(</div>
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<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
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<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> std::vector<pcl::IndicesPtr > * validIndices = 0,</div>
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<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
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<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> </div>
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<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745"> 601</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745">cloudRGBFromSensorData</a>(</div>
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<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & sensorData,</div>
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<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> std::vector<int> * validIndices = 0,</div>
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<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & stereoParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
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<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(), <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0); <span class="comment">// ignored for stereo</span></div>
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<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> </div>
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<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558"> 633</a></span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558">laserScanFromDepthImage</a>(</div>
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<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
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<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> <span class="keywordtype">float</span> fx,</div>
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<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keywordtype">float</span> cx,</div>
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<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> <span class="keywordtype">float</span> maxDepth = 0,</div>
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<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> <span class="keywordtype">float</span> minDepth = 0,</div>
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<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & localTransform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
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<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0"> 661</a></span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0">laserScanFromDepthImages</a>(</div>
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<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> <span class="keyword">const</span> cv::Mat & depthImages,</div>
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<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> <span class="keywordtype">float</span> maxDepth,</div>
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<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keywordtype">float</span> minDepth);</div>
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<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> </div>
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<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga16a77d267dc60b14b5bf48ca52547bae"> 695</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75f96d3e3d5d62ce6a9d16a1753c775a"> 697</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga7a88e45c9bab555c6d1efd64be765c4d"> 699</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9470f081e8de0a34550e91e2f74bacd5"> 701</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gad5764a399e3a8a5586b94490e0cd7d15"> 703</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9933faab17e984b2789926abd2ba0caf"> 705</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaa98ccb732868f5ab4e91cd6f82602852"> 707</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gadeb1f66fd39cfcb39c2f152c36b3be62"> 709</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga51c683da166a9fcf7e7bf6c834ca03a4"> 711</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga655a37385c6ca40ec99e76045c04040b"> 713</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00715" name="l00715"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga04169bd4b4488350b08709af9581b289"> 715</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75bf455d6cc912b4ee18785de71c50a5"> 717</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGB> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaf509a7c65e02d8690c971294c43bda47"> 719</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9344c712c57af92d7612b0af76226f06"> 721</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga79e460158de1d3934abcd8fad488fb24"> 723</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gafb165d79d23620b42af0653ae045fb91"> 725</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gab2d54043075851c5e23f487001adacb6"> 727</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> pcl::IndicesPtr & indices, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> </div>
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<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Cloud2T></div>
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<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> <a class="code hl_function" href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">laserScanFromPointCloud</a>(<span class="keyword">const</span> PointCloud2T & cloud, <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>, <span class="keywordtype">bool</span> is2D = <span class="keyword">false</span>, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
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<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e"> 756</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0898d06b1639f58ed92b66f311e786aa"> 758</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac278e2f3f54ed49b5d3a6afa606a466b"> 760</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointNormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gae4e7c218a24fb8d5c3fd7143462d3070"> 762</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga6cb623d1b3ce9c244a7d4ef346a721db"> 764</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0354b321c4196232fb1183c3a322b5f8"> 766</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">laserScan2dFromPointCloud</a>(<span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZI> & cloud, <span class="keyword">const</span> pcl::PointCloud<pcl::Normal> & normals, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">bool</span> filterNaNs = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c"> 785</a></span>pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c">laserScanToPointCloud2</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
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<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#gac4aef207f79791db5064dc596e25513b"> 787</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#gac4aef207f79791db5064dc596e25513b">laserScanToPointCloud</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
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<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#gafe2b6826178bf0af878be67bddf3c9bd"> 789</a></span>pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#gafe2b6826178bf0af878be67bddf3c9bd">laserScanToPointCloudNormal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
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<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#gaee3e6a7ef23f6e5f9a19a0b033d7522c"> 791</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#gaee3e6a7ef23f6e5f9a19a0b033d7522c">laserScanToPointCloudRGB</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
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<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga734628cdc1b15384476dc94d1c3dbb4d"> 793</a></span>pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga734628cdc1b15384476dc94d1c3dbb4d">laserScanToPointCloudI</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">float</span> intensity = 0.0f);</div>
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<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga741bd010511d5284831012194eab99b9"> 795</a></span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga741bd010511d5284831012194eab99b9">laserScanToPointCloudRGBNormal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
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<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga8ee678c27ae59e2bb3fac8aeb55f9d92"> 797</a></span>pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga8ee678c27ae59e2bb3fac8aeb55f9d92">laserScanToPointCloudINormal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <span class="keywordtype">float</span> intensity = 0.0f);</div>
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<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> </div>
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<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"> 799</span> </div>
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<div class="line"><a id="l00801" name="l00801"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#gaeda3b4a673cb96e6421688e6c575e4e5"> 801</a></span>pcl::PointXYZ RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#gaeda3b4a673cb96e6421688e6c575e4e5">laserScanToPoint</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index);</div>
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<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga4412f275d60b69f0f62db56321c5991c"> 803</a></span>pcl::PointNormal RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga4412f275d60b69f0f62db56321c5991c">laserScanToPointNormal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index);</div>
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<div class="line"><a id="l00805" name="l00805"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#gad0183648eae48143b33bfe969f8cbe43"> 805</a></span>pcl::PointXYZRGB RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#gad0183648eae48143b33bfe969f8cbe43">laserScanToPointRGB</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g = 100, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b = 100);</div>
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<div class="line"><a id="l00807" name="l00807"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga03b1c3a49aba08fcbc01b5991f25d0cc"> 807</a></span>pcl::PointXYZI RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga03b1c3a49aba08fcbc01b5991f25d0cc">laserScanToPointI</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">float</span> intensity);</div>
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<div class="line"><a id="l00809" name="l00809"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga675b84c6a6edde91883e38f49c087f31"> 809</a></span>pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#ga675b84c6a6edde91883e38f49c087f31">laserScanToPointRGBNormal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g, <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b);</div>
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<div class="line"><a id="l00811" name="l00811"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#gab69062f7ffd0f2192983c6d7afa4a171"> 811</a></span>pcl::PointXYZINormal RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__LaserScanToPointCloud.html#gab69062f7ffd0f2192983c6d7afa4a171">laserScanToPointINormal</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">int</span> index, <span class="keywordtype">float</span> intensity);</div>
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<div class="line"><a id="l00812" name="l00812"></a><span class="lineno"> 812</span> </div>
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<div class="line"><a id="l00834" name="l00834"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018"> 834</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018">getMinMax3D</a>(<span class="keyword">const</span> cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);</div>
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<div class="line"><a id="l00835" name="l00835"></a><span class="lineno"> 835</span> </div>
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<div class="line"><a id="l00849" name="l00849"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#afc22f82c00f6dcc8a4ec1963891f4b7e"> 849</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018">getMinMax3D</a>(<span class="keyword">const</span> cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);</div>
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<div class="line"><a id="l00850" name="l00850"></a><span class="lineno"> 850</span> </div>
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<div class="line"><a id="l00873" name="l00873"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5"> 873</a></span>cv::Point3f RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5">projectDisparityTo3D</a>(</div>
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<div class="line"><a id="l00874" name="l00874"></a><span class="lineno"> 874</span> <span class="keyword">const</span> cv::Point2f & pt,</div>
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<div class="line"><a id="l00875" name="l00875"></a><span class="lineno"> 875</span> <span class="keywordtype">float</span> disparity,</div>
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<div class="line"><a id="l00876" name="l00876"></a><span class="lineno"> 876</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model);</div>
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<div class="line"><a id="l00877" name="l00877"></a><span class="lineno"> 877</span> </div>
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<div class="line"><a id="l00896" name="l00896"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a05a022ff5229033fc248bc497edd5449"> 896</a></span>cv::Point3f RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5">projectDisparityTo3D</a>(</div>
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<div class="line"><a id="l00897" name="l00897"></a><span class="lineno"> 897</span> <span class="keyword">const</span> cv::Point2f & pt,</div>
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<div class="line"><a id="l00898" name="l00898"></a><span class="lineno"> 898</span> <span class="keyword">const</span> cv::Mat & disparity,</div>
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<div class="line"><a id="l00899" name="l00899"></a><span class="lineno"> 899</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & model);</div>
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<div class="line"><a id="l00900" name="l00900"></a><span class="lineno"> 900</span> </div>
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<div class="line"><a id="l00921" name="l00921"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057"> 921</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">projectCloudToCamera</a>(</div>
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<div class="line"><a id="l00922" name="l00922"></a><span class="lineno"> 922</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00923" name="l00923"></a><span class="lineno"> 923</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
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<div class="line"><a id="l00924" name="l00924"></a><span class="lineno"> 924</span> <span class="keyword">const</span> cv::Mat & laserScan,</div>
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<div class="line"><a id="l00925" name="l00925"></a><span class="lineno"> 925</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
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<div class="line"><a id="l00926" name="l00926"></a><span class="lineno"> 926</span> </div>
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<div class="line"><a id="l00947" name="l00947"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a7dea084f1dbb77c8f5bc2a7241c3b566"> 947</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">projectCloudToCamera</a>(</div>
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<div class="line"><a id="l00948" name="l00948"></a><span class="lineno"> 948</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00949" name="l00949"></a><span class="lineno"> 949</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK,</div>
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<div class="line"><a id="l00950" name="l00950"></a><span class="lineno"> 950</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,</div>
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<div class="line"><a id="l00951" name="l00951"></a><span class="lineno"> 951</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
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<div class="line"><a id="l00952" name="l00952"></a><span class="lineno"> 952</span> </div>
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<div class="line"><a id="l00973" name="l00973"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a285e01226d60613ffd77d929780069ba"> 973</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">projectCloudToCamera</a>(</div>
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<div class="line"><a id="l00974" name="l00974"></a><span class="lineno"> 974</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00975" name="l00975"></a><span class="lineno"> 975</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
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<div class="line"><a id="l00976" name="l00976"></a><span class="lineno"> 976</span> <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr laserScan,</div>
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<div class="line"><a id="l00977" name="l00977"></a><span class="lineno"> 977</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & cameraTransform);</div>
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<div class="line"><a id="l00978" name="l00978"></a><span class="lineno"> 978</span> </div>
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<div class="line"><a id="l00998" name="l00998"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564"> 998</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564">fillProjectedCloudHoles</a>(</div>
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<div class="line"><a id="l00999" name="l00999"></a><span class="lineno"> 999</span> cv::Mat & depthRegistered,</div>
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<div class="line"><a id="l01000" name="l01000"></a><span class="lineno"> 1000</span> <span class="keywordtype">bool</span> verticalDirection,</div>
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<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"> 1001</span> <span class="keywordtype">bool</span> fillToBorder);</div>
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<div class="line"><a id="l01002" name="l01002"></a><span class="lineno"> 1002</span> </div>
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<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628"> 1031</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628">filterFloor</a>(</div>
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<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> <span class="keywordtype">float</span> threshold,</div>
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<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span> cv::Mat * depthBelow = 0);</div>
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<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> </div>
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<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea"> 1057</a></span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea">projectCloudToCameras</a> (</div>
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<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,</div>
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<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"> 1059</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
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<div class="line"><a id="l01060" name="l01060"></a><span class="lineno"> 1060</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
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<div class="line"><a id="l01061" name="l01061"></a><span class="lineno"> 1061</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
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<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"> 1062</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
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<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"> 1063</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
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<div class="line"><a id="l01064" name="l01064"></a><span class="lineno"> 1064</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
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<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
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<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0);</div>
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<div class="line"><a id="l01088" name="l01088"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae29c5a7ba359682e2430f55318226b39"> 1088</a></span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea">projectCloudToCameras</a> (</div>
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<div class="line"><a id="l01089" name="l01089"></a><span class="lineno"> 1089</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud,</div>
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<div class="line"><a id="l01090" name="l01090"></a><span class="lineno"> 1090</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
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<div class="line"><a id="l01091" name="l01091"></a><span class="lineno"> 1091</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::vector<CameraModel> > & cameraModels,</div>
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<div class="line"><a id="l01092" name="l01092"></a><span class="lineno"> 1092</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
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<div class="line"><a id="l01093" name="l01093"></a><span class="lineno"> 1093</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
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<div class="line"><a id="l01094" name="l01094"></a><span class="lineno"> 1094</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
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<div class="line"><a id="l01095" name="l01095"></a><span class="lineno"> 1095</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
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<div class="line"><a id="l01096" name="l01096"></a><span class="lineno"> 1096</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
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<div class="line"><a id="l01097" name="l01097"></a><span class="lineno"> 1097</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l01098" name="l01098"></a><span class="lineno"> 1098</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1ProgressState.html">ProgressState</a> * state = 0);</div>
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<div class="line"><a id="l01099" name="l01099"></a><span class="lineno"> 1099</span> </div>
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<div class="line"><a id="l01109" name="l01109"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020"> 1109</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020">isFinite</a>(<span class="keyword">const</span> cv::Point3f & pt);</div>
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<div class="line"><a id="l01110" name="l01110"></a><span class="lineno"> 1110</span> </div>
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<div class="line"><a id="l01120" name="l01120"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b"> 1120</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">concatenateClouds</a>(</div>
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<div class="line"><a id="l01121" name="l01121"></a><span class="lineno"> 1121</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);</div>
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<div class="line"><a id="l01131" name="l01131"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a909a600c90d8bc4f77b62ff21a97ddc1"> 1131</a></span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">concatenateClouds</a>(</div>
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<div class="line"><a id="l01132" name="l01132"></a><span class="lineno"> 1132</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);</div>
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<div class="line"><a id="l01133" name="l01133"></a><span class="lineno"> 1133</span> </div>
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<div class="line"><a id="l01148" name="l01148"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969"> 1148</a></span>pcl::IndicesPtr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">concatenate</a>(</div>
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<div class="line"><a id="l01149" name="l01149"></a><span class="lineno"> 1149</span> <span class="keyword">const</span> std::vector<pcl::IndicesPtr> & indices);</div>
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<div class="line"><a id="l01150" name="l01150"></a><span class="lineno"> 1150</span> </div>
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<div class="line"><a id="l01165" name="l01165"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ac6c2019b1dad806d0c593e2ee3c21185"> 1165</a></span>pcl::IndicesPtr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">concatenate</a>(</div>
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<div class="line"><a id="l01166" name="l01166"></a><span class="lineno"> 1166</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesA,</div>
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<div class="line"><a id="l01167" name="l01167"></a><span class="lineno"> 1167</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesB);</div>
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<div class="line"><a id="l01168" name="l01168"></a><span class="lineno"> 1168</span> </div>
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<div class="line"><a id="l01180" name="l01180"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6"> 1180</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6">savePCDWords</a>(</div>
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<div class="line"><a id="l01181" name="l01181"></a><span class="lineno"> 1181</span> <span class="keyword">const</span> std::string & fileName,</div>
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<div class="line"><a id="l01182" name="l01182"></a><span class="lineno"> 1182</span> <span class="keyword">const</span> std::multimap<int, pcl::PointXYZ> & words,</div>
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<div class="line"><a id="l01183" name="l01183"></a><span class="lineno"> 1183</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
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<div class="line"><a id="l01184" name="l01184"></a><span class="lineno"> 1184</span> </div>
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<div class="line"><a id="l01196" name="l01196"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#abf6955904a45f28187e73aa1f4c409e0"> 1196</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6">savePCDWords</a>(</div>
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<div class="line"><a id="l01197" name="l01197"></a><span class="lineno"> 1197</span> <span class="keyword">const</span> std::string & fileName,</div>
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<div class="line"><a id="l01198" name="l01198"></a><span class="lineno"> 1198</span> <span class="keyword">const</span> std::multimap<int, cv::Point3f> & words,</div>
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<div class="line"><a id="l01199" name="l01199"></a><span class="lineno"> 1199</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>());</div>
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<div class="line"><a id="l01200" name="l01200"></a><span class="lineno"> 1200</span> </div>
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<div class="line"><a id="l01211" name="l01211"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556"> 1211</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556">loadBINScan</a>(<span class="keyword">const</span> std::string & fileName);</div>
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<div class="line"><a id="l01220" name="l01220"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06"> 1220</a></span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06">loadBINCloud</a>(<span class="keyword">const</span> std::string & fileName);</div>
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<div class="line"><a id="l01229" name="l01229"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae112015538769a29c920da97096e0d17"> 1229</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06">loadBINCloud</a>(<span class="keyword">const</span> std::string & fileName, <span class="keywordtype">int</span> dim);</div>
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<div class="line"><a id="l01230" name="l01230"></a><span class="lineno"> 1230</span> </div>
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<div class="line"><a id="l01241" name="l01241"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190"> 1241</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190">loadScan</a>(<span class="keyword">const</span> std::string & path);</div>
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<div class="line"><a id="l01242" name="l01242"></a><span class="lineno"> 1242</span> </div>
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<div class="line"><a id="l01256" name="l01256"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8"> 1256</a></span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8">loadCloud</a>(</div>
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<div class="line"><a id="l01257" name="l01257"></a><span class="lineno"> 1257</span> <span class="keyword">const</span> std::string & path,</div>
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<div class="line"><a id="l01258" name="l01258"></a><span class="lineno"> 1258</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>(),</div>
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<div class="line"><a id="l01259" name="l01259"></a><span class="lineno"> 1259</span> <span class="keywordtype">int</span> downsampleStep = 1,</div>
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<div class="line"><a id="l01260" name="l01260"></a><span class="lineno"> 1260</span> <span class="keywordtype">float</span> voxelSize = 0.0f);</div>
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<div class="line"><a id="l01261" name="l01261"></a><span class="lineno"> 1261</span> </div>
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<div class="line"><a id="l01293" name="l01293"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c"> 1293</a></span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c">deskew</a>(</div>
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<div class="line"><a id="l01294" name="l01294"></a><span class="lineno"> 1294</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & input,</div>
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<div class="line"><a id="l01295" name="l01295"></a><span class="lineno"> 1295</span> <span class="keywordtype">double</span> inputStamp,</div>
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<div class="line"><a id="l01296" name="l01296"></a><span class="lineno"> 1296</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & velocity);</div>
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<div class="line"><a id="l01297" name="l01297"></a><span class="lineno"> 1297</span> </div>
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<div class="line"><a id="l01298" name="l01298"></a><span class="lineno"> 1298</span>} <span class="comment">// namespace util3d</span></div>
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<div class="line"><a id="l01299" name="l01299"></a><span class="lineno"> 1299</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l01300" name="l01300"></a><span class="lineno"> 1300</span> </div>
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<div class="line"><a id="l01301" name="l01301"></a><span class="lineno"> 1301</span>POINT_CLOUD_REGISTER_POINT_STRUCT(<a class="code hl_struct" href="structrtabmap_1_1PointXYZIRT.html">rtabmap::PointXYZIRT</a>,</div>
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<div class="line"><a id="l01302" name="l01302"></a><span class="lineno"> 1302</span> (<span class="keywordtype">float</span>, x, x)</div>
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<div class="line"><a id="l01303" name="l01303"></a><span class="lineno"> 1303</span> (<span class="keywordtype">float</span>, y, y)</div>
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<div class="line"><a id="l01304" name="l01304"></a><span class="lineno"> 1304</span> (<span class="keywordtype">float</span>, z, z)</div>
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<div class="line"><a id="l01305" name="l01305"></a><span class="lineno"> 1305</span> (<span class="keywordtype">float</span>, intensity, intensity)</div>
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<div class="line"><a id="l01306" name="l01306"></a><span class="lineno"> 1306</span> (std::uint16_t, ring, ring)</div>
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<div class="line"><a id="l01307" name="l01307"></a><span class="lineno"> 1307</span> (<span class="keywordtype">float</span>, time, time)</div>
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<div class="line"><a id="l01308" name="l01308"></a><span class="lineno"> 1308</span>)</div>
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<div class="line"><a id="l01309" name="l01309"></a><span class="lineno"> 1309</span> </div>
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<div class="line"><a id="l01310" name="l01310"></a><span class="lineno"> 1310</span><span class="preprocessor">#include "rtabmap/core/impl/util3d.hpp"</span></div>
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<div class="line"><a id="l01311" name="l01311"></a><span class="lineno"> 1311</span> </div>
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<div class="line"><a id="l01312" name="l01312"></a><span class="lineno"> 1312</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></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_1ProgressState_html"><div class="ttname"><a href="classrtabmap_1_1ProgressState.html">rtabmap::ProgressState</a></div><div class="ttdef"><b>Definition</b> <a href="ProgressState_8h_source.html#l00035">ProgressState.h:36</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></div><div class="ttdoc">A class representing a calibrated stereo camera system.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00053">StereoCameraModel.h:54</a></div></div>
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<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>
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<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>
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<div class="ttc" id="agroup__LaserScan2dFromPointCloud_html_gac0823dd28e488bef9499faee54ff8a4e"><div class="ttname"><a href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e">rtabmap::util3d::laserScan2dFromPointCloud</a></div><div class="ttdeci">LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)</div><div class="ttdoc">PointXYZ → LaserScan::kXY</div></div>
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<div class="ttc" id="agroup__LaserScanFromPointCloud_html_ga078f5eae0077169e636ec76e03973edc"><div class="ttname"><a href="group__LaserScanFromPointCloud.html#ga078f5eae0077169e636ec76e03973edc">rtabmap::util3d::laserScanFromPointCloud</a></div><div class="ttdeci">LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)</div><div class="ttdoc">Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...</div><div class="ttdef"><b>Definition</b> <a href="util3d_8hpp_source.html#l00037">util3d.hpp:37</a></div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga03b1c3a49aba08fcbc01b5991f25d0cc"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga03b1c3a49aba08fcbc01b5991f25d0cc">rtabmap::util3d::laserScanToPointI</a></div><div class="ttdeci">pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan &laserScan, int index, float intensity)</div><div class="ttdoc">The point at index of the scan, as PointXYZI.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga394ec840a58a1203fac9725d49a0013c"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c">rtabmap::util3d::laserScanToPointCloud2</a></div><div class="ttdeci">pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan &laserScan, const Transform &transform=Transform())</div><div class="ttdoc">Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::...</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga4412f275d60b69f0f62db56321c5991c"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga4412f275d60b69f0f62db56321c5991c">rtabmap::util3d::laserScanToPointNormal</a></div><div class="ttdeci">pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan &laserScan, int index)</div><div class="ttdoc">The point at index of the scan, as PointNormal.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga675b84c6a6edde91883e38f49c087f31"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga675b84c6a6edde91883e38f49c087f31">rtabmap::util3d::laserScanToPointRGBNormal</a></div><div class="ttdeci">pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)</div><div class="ttdoc">The point at index of the scan, as PointXYZRGBNormal.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga734628cdc1b15384476dc94d1c3dbb4d"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga734628cdc1b15384476dc94d1c3dbb4d">rtabmap::util3d::laserScanToPointCloudI</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)</div><div class="ttdoc">LaserScan → PointXYZI (x, y, z, intensity); intensity is used if the scan has none.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga741bd010511d5284831012194eab99b9"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga741bd010511d5284831012194eab99b9">rtabmap::util3d::laserScanToPointCloudRGBNormal</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)</div><div class="ttdoc">LaserScan → PointXYZRGBNormal (x, y, z, rgb, nx, ny, nz); missing color and normals are filled as abo...</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_ga8ee678c27ae59e2bb3fac8aeb55f9d92"><div class="ttname"><a href="group__LaserScanToPointCloud.html#ga8ee678c27ae59e2bb3fac8aeb55f9d92">rtabmap::util3d::laserScanToPointCloudINormal</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)</div><div class="ttdoc">LaserScan → PointXYZINormal (x, y, z, intensity, nx, ny, nz); missing intensity and normals are fille...</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_gab69062f7ffd0f2192983c6d7afa4a171"><div class="ttname"><a href="group__LaserScanToPointCloud.html#gab69062f7ffd0f2192983c6d7afa4a171">rtabmap::util3d::laserScanToPointINormal</a></div><div class="ttdeci">pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan &laserScan, int index, float intensity)</div><div class="ttdoc">The point at index of the scan, as PointXYZINormal.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_gac4aef207f79791db5064dc596e25513b"><div class="ttname"><a href="group__LaserScanToPointCloud.html#gac4aef207f79791db5064dc596e25513b">rtabmap::util3d::laserScanToPointCloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan &laserScan, const Transform &transform=Transform())</div><div class="ttdoc">LaserScan → PointXYZ (x, y, z); any other field of the scan is dropped.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_gad0183648eae48143b33bfe969f8cbe43"><div class="ttname"><a href="group__LaserScanToPointCloud.html#gad0183648eae48143b33bfe969f8cbe43">rtabmap::util3d::laserScanToPointRGB</a></div><div class="ttdeci">pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)</div><div class="ttdoc">The point at index of the scan, as PointXYZRGB.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_gaeda3b4a673cb96e6421688e6c575e4e5"><div class="ttname"><a href="group__LaserScanToPointCloud.html#gaeda3b4a673cb96e6421688e6c575e4e5">rtabmap::util3d::laserScanToPoint</a></div><div class="ttdeci">pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan &laserScan, int index)</div><div class="ttdoc">The point at index of the scan, as PointXYZ.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_gaee3e6a7ef23f6e5f9a19a0b033d7522c"><div class="ttname"><a href="group__LaserScanToPointCloud.html#gaee3e6a7ef23f6e5f9a19a0b033d7522c">rtabmap::util3d::laserScanToPointCloudRGB</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)</div><div class="ttdoc">LaserScan → PointXYZRGB (x, y, z, rgb); r, g and b are used if the scan has no color.</div></div>
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<div class="ttc" id="agroup__LaserScanToPointCloud_html_gafe2b6826178bf0af878be67bddf3c9bd"><div class="ttname"><a href="group__LaserScanToPointCloud.html#gafe2b6826178bf0af878be67bddf3c9bd">rtabmap::util3d::laserScanToPointCloudNormal</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan &laserScan, const Transform &transform=Transform())</div><div class="ttdoc">LaserScan → PointNormal (x, y, z, nx, ny, nz); normals are zeroed if the scan has none.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a07f8a125805ac013039b7fa0ddb623e0"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a07f8a125805ac013039b7fa0ddb623e0">rtabmap::util3d::laserScanFromDepthImages</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImages(const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth)</div><div class="ttdoc">Converts multiple depth images (e.g., from a stereo or multi-camera setup) into a single laser scan (...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a1e4a96407fb1b92018e640ef41b8db8e"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a1e4a96407fb1b92018e640ef41b8db8e">rtabmap::util3d::cloudFromDisparityRGB</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(const cv::Mat &imageRgb, const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Converts a disparity image and an RGB image to a 3D point cloud with color.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a2155fca440675ca9697a2fe7b2efb30e"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a2155fca440675ca9697a2fe7b2efb30e">rtabmap::util3d::cloudsRGBFromSensorData</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a point cloud with RGB color data from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a29ece82e01f041cab271fe9322cf9745"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a29ece82e01f041cab271fe9322cf9745">rtabmap::util3d::cloudRGBFromSensorData</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a point cloud of type pcl::PointXYZRGB from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a3366d0a9c24960ee3f5b720945e12b1b"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a3366d0a9c24960ee3f5b720945e12b1b">rtabmap::util3d::rgbFromCloud</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)</div><div class="ttdoc">Converts a PCL point cloud with RGBA information to an OpenCV RGB or BGR image.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a39d4adb63b4bd06592e2c65641a32558"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a39d4adb63b4bd06592e2c65641a32558">rtabmap::util3d::laserScanFromDepthImage</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImage(const cv::Mat &depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform &localTransform=Transform::getIdentity())</div><div class="ttdoc">Converts the middle row of a depth image into a laser scan (point cloud) using camera intrinsics and ...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a406caa6c0c51bae870a8c3a44e7daccc"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a406caa6c0c51bae870a8c3a44e7daccc">rtabmap::util3d::cloudFromStereoImages</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(const cv::Mat &imageLeft, const cv::Mat &imageRight, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Converts a pair of stereo images (left and right) into a 3D point cloud with RGB color information.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a42fb0c483553db3b06e78d85106b8ee5"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a42fb0c483553db3b06e78d85106b8ee5">rtabmap::util3d::projectDisparityTo3D</a></div><div class="ttdeci">cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(const cv::Point2f &pt, float disparity, const StereoCameraModel &model)</div><div class="ttdoc">Projects a 2D point from the left image and its disparity into 3D space.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a45c699a4a8f4108aa31148fb706e6249"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">rtabmap::util3d::cloudFromDepth</a></div><div class="ttdeci">RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Converts a depth image to a 3D point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a4a95aa3704280ecff8ae50db2fdb03b5"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a4a95aa3704280ecff8ae50db2fdb03b5">rtabmap::util3d::projectDepthTo3D</a></div><div class="ttdeci">pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float depthErrorRatio=0.02f)</div><div class="ttdoc">Projects a single depth pixel into 3D space.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a4e297ff4baacb0c658d7481eef5201a6"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a4e297ff4baacb0c658d7481eef5201a6">rtabmap::util3d::savePCDWords</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT savePCDWords(const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())</div><div class="ttdoc">Saves 3D word points to a PCD file, applying a transform to each point.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a5ec62aa90ceb52a032e7e49c22e0fd76"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a5ec62aa90ceb52a032e7e49c22e0fd76">rtabmap::util3d::rgbdFromCloud</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT rgbdFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, cv::Mat &rgb, cv::Mat &depth, bool bgrOrder=true, bool depth16U=true)</div><div class="ttdoc">Converts a PCL point cloud (with RGBA colors) into aligned RGB and depth OpenCV images.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a5ee08270b4a9e8ad93193721c7c71556"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a5ee08270b4a9e8ad93193721c7c71556">rtabmap::util3d::loadBINScan</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string &fileName)</div><div class="ttdoc">Loads a KITTI-style Velodyne binary scan file into an OpenCV matrix.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a636c56f4ab6e58044595f95e44f93d06"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a636c56f4ab6e58044595f95e44f93d06">rtabmap::util3d::loadBINCloud</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string &fileName)</div><div class="ttdoc">Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a791904051b63ab0da4d972166a25ae5f"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a791904051b63ab0da4d972166a25ae5f">rtabmap::util3d::projectDepthTo3DRay</a></div><div class="ttdeci">Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(const cv::Size &imageSize, float x, float y, float cx, float cy, float fx, float fy)</div><div class="ttdoc">Projects pixel coordinates to a normalized 3D ray in camera coordinates.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a826310ce938a13b9fff64f71e7ecc057"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a826310ce938a13b9fff64f71e7ecc057">rtabmap::util3d::projectCloudToCamera</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform)</div><div class="ttdoc">Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth ...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a863268b894de375aa45485dafe52dd7b"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">rtabmap::util3d::concatenateClouds</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT concatenateClouds(const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)</div><div class="ttdoc">Concatenates a list of PointXYZ point clouds into a single point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a86ba029bd916ab76dd5645ba7e1b2ef8"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8">rtabmap::util3d::loadCloud</a></div><div class="ttdeci">RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadCloud(const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)</div><div class="ttdoc">Loads and optionally transforms/downsamples/voxelizes a point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a982bc5d13fea129a174e16373aa8a31c"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">rtabmap::util3d::cloudFromDepthRGB</a></div><div class="ttdeci">RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Creates a point cloud from an RGB image and a depth image.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a992c9dd2c6243261244e0650d3e98564"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a992c9dd2c6243261244e0650d3e98564">rtabmap::util3d::fillProjectedCloudHoles</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder)</div><div class="ttdoc">Fills holes (missing depth values) in a depth image by interpolating between non-zero values.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aa5a81a30a05507cb5d222f2f23c111ea"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aa5a81a30a05507cb5d222f2f23c111ea">rtabmap::util3d::projectCloudToCameras</a></div><div class="ttdeci">std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT projectCloudToCameras(const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, float maxDepthError=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)</div><div class="ttdoc">Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aacda489f2336d8edb4e982f61f55cc66"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aacda489f2336d8edb4e982f61f55cc66">rtabmap::util3d::cloudFromSensorData</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a point cloud from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aaf77cb59d32f36c1e9baa2111a7b1b3d"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aaf77cb59d32f36c1e9baa2111a7b1b3d">rtabmap::util3d::depthFromCloud</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool depth16U=true)</div><div class="ttdoc">Generates a depth image from a PCL organized point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_acc048e10b70e3ad3efb299926e575020"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#acc048e10b70e3ad3efb299926e575020">rtabmap::util3d::isFinite</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f &pt)</div><div class="ttdoc">Checks if all coordinates of a 3D point are finite.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ad857475644e8de6d7d84b920637b2018"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ad857475644e8de6d7d84b920637b2018">rtabmap::util3d::getMinMax3D</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)</div><div class="ttdoc">Computes the minimum and maximum 3D points from a laser scan matrix.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ada07c0379fcc7bb7465e31a5a53ebfaa"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ada07c0379fcc7bb7465e31a5a53ebfaa">rtabmap::util3d::cloudsFromSensorData</a></div><div class="ttdeci">std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > RTABMAP_CORE_EXPORT cloudsFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)</div><div class="ttdoc">Generates a set of point clouds from sensor data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae145af1bf4955fa135bcf359fb1fe628"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae145af1bf4955fa135bcf359fb1fe628">rtabmap::util3d::filterFloor</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT filterFloor(const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float threshold, cv::Mat *depthBelow=0)</div><div class="ttdoc">Filters out points below a certain threshold in a depth image based on camera models.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae4f056638c16889c7cb1d41ecac2866c"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae4f056638c16889c7cb1d41ecac2866c">rtabmap::util3d::deskew</a></div><div class="ttdeci">LaserScan RTABMAP_CORE_EXPORT deskew(const LaserScan &input, double inputStamp, const rtabmap::Transform &velocity)</div><div class="ttdoc">Lidar deskewing.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aee34b5fe56014a9fa058fbdbf90cab71"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aee34b5fe56014a9fa058fbdbf90cab71">rtabmap::util3d::cloudFromDisparity</a></div><div class="ttdeci">pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</div><div class="ttdoc">Converts a disparity image to a 3D point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aefffe4f3418377f85659e7546668b190"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190">rtabmap::util3d::loadScan</a></div><div class="ttdeci">LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string &path)</div><div class="ttdoc">Loads a 3D scan from a file (.pcd, .ply, or .bin format).</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aff3c61a08b0fcad7f1c3f7c847190969"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a></div><div class="ttdeci">pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)</div><div class="ttdoc">Concatenates multiple sets of indices into a single index vector.</div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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<div class="ttc" id="astructrtabmap_1_1PointXYZIRT_html"><div class="ttname"><a href="structrtabmap_1_1PointXYZIRT.html">rtabmap::PointXYZIRT</a></div><div class="ttdoc">This namespace contains 3D point cloud processing utilities.</div><div class="ttdef"><b>Definition</b> <a href="util3d_8h_source.html#l00057">util3d.h:58</a></div></div>
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