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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.13</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) 2010-2016, 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_MAPPING_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_MAPPING_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 <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <map></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <rtabmap/core/Transform.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/pcl_base.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 <pcl/point_cloud.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 <pcl/point_types.h></span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</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="l00041" name="l00041"></a><span class="lineno"> 41</span>{</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</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="l00047" name="l00047"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d"> 47</a></span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">occupancy2DFromLaserScan</a>(</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">const</span> cv::Mat & scan, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> cv::Mat & empty,</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> cv::Mat & occupied,</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">bool</span> unknownSpaceFilled = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aa1c9dfd681662ff1c164956a83e30b57"> 56</a></span>RTABMAP_DEPRECATED <span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">occupancy2DFromLaserScan</a>(</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">const</span> cv::Mat & scan, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">const</span> cv::Point3f & viewpoint, <span class="comment">// /base_link -> /base_scan</span></div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> cv::Mat & empty,</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> cv::Mat & occupied,</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordtype">bool</span> unknownSpaceFilled = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</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 class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a2d2f6d5adead09c6f87ef3f7cdebc65e"> 92</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">occupancy2DFromLaserScan</a>(</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">const</span> cv::Mat & scanHit, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">const</span> cv::Mat & scanNoHit, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keyword">const</span> cv::Point3f & viewpoint, <span class="comment">// /base_link -> /base_scan</span></div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> cv::Mat & empty,</div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> cv::Mat & occupied,</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keywordtype">bool</span> unknownSpaceFilled = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f); <span class="comment">// would be set if unknownSpaceFilled=true</span></div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894"> 138</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">create2DMapFromOccupancyLocalMaps</a>(</div>
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<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::pair<cv::Mat, cv::Mat> > & occupancy,</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">float</span> & xMin,</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">float</span> & yMin,</div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordtype">float</span> minMapSize = 0.0f,</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">bool</span> erode = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">float</span> footprintRadius = 0.0f);</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> </div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23"> 149</a></span>RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">create2DMap</a>(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">bool</span> unknownSpaceFilled,</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">float</span> & xMin,</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">float</span> & yMin,</div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">float</span> minMapSize = 0.0f,</div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#adcc1d4aca3da4fcb11fa44d3a20f46ca"> 159</a></span>RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">create2DMap</a>(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, <span class="comment">// in /base_link frame</span></div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keyword">const</span> std::map<int, cv::Point3f > & viewpoints, <span class="comment">// /base_link -> /base_scan</span></div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">bool</span> unknownSpaceFilled,</div>
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<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">float</span> & xMin,</div>
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<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">float</span> & yMin,</div>
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<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> minMapSize = 0.0f,</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#afff989b8fc8d612a69d82bdfa7a28fe8"> 204</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">create2DMap</a>(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keyword">const</span> std::map<<span class="keywordtype">int</span>, std::pair<cv::Mat, cv::Mat> > & scans, <span class="comment">// <id, <hit, no hit> >, in /base_link frame</span></div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> std::map<int, cv::Point3f > & viewpoints, <span class="comment">// /base_link -> /base_scan</span></div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">bool</span> unknownSpaceFilled,</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">float</span> & xMin,</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">float</span> & yMin,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> minMapSize = 0.0f,</div>
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<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> scanMaxRange = 0.0f);</div>
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
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<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a281695150f5c02e6222d050f488a9d6b"> 235</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a281695150f5c02e6222d050f488a9d6b">rayTrace</a>(<span class="keyword">const</span> cv::Point2i & start,</div>
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<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keyword">const</span> cv::Point2i & end,</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> cv::Mat & grid,</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">bool</span> stopOnObstacle);</div>
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
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<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4"> 263</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4">convertMap2Image8U</a>(<span class="keyword">const</span> cv::Mat & map8S, <span class="keywordtype">bool</span> pgmFormat = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> </div>
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<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049"> 293</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049">convertImage8U2Map</a>(<span class="keyword">const</span> cv::Mat & map8U, <span class="keywordtype">bool</span> pgmFormat = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> </div>
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<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aa4d323d39ec23ea314c22f0668ab11c4"> 312</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aa4d323d39ec23ea314c22f0668ab11c4">erodeMap</a>(<span class="keyword">const</span> cv::Mat & map);</div>
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<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
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<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span><span class="comment">// templated methods</span></div>
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<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> </div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span><span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980">projectCloudOnXYPlane</a>(</div>
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<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT> & cloud);</div>
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<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> </div>
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<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> </div>
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<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a58ee399b0bca3a8af41e74d0eced5f84"> 363</a></span><span class="keywordtype">void</span> segmentObstaclesFromGround(</div>
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<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
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<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"> 365</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
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<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> pcl::IndicesPtr & ground,</div>
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<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> pcl::IndicesPtr & obstacles,</div>
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<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> <span class="keywordtype">int</span> normalKSearch,</div>
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<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> <span class="keywordtype">float</span> groundNormalAngle,</div>
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<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> <span class="keywordtype">float</span> clusterRadius,</div>
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<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keywordtype">int</span> minClusterSize,</div>
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<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keywordtype">bool</span> segmentFlatObstacles = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> <span class="keywordtype">float</span> maxGroundHeight = 0.0f,</div>
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<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> pcl::IndicesPtr * flatObstacles = 0,</div>
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<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keyword">const</span> Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0),</div>
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<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keywordtype">float</span> groundNormalsUp = 0);</div>
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<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span><span class="keywordtype">void</span> segmentObstaclesFromGround(</div>
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<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
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<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> pcl::IndicesPtr & ground,</div>
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<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> pcl::IndicesPtr & obstacles,</div>
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<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keywordtype">int</span> normalKSearch,</div>
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<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keywordtype">float</span> groundNormalAngle,</div>
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<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordtype">float</span> clusterRadius,</div>
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<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordtype">int</span> minClusterSize,</div>
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<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keywordtype">bool</span> segmentFlatObstacles = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordtype">float</span> maxGroundHeight = 0.0f,</div>
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<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> pcl::IndicesPtr * flatObstacles = 0,</div>
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<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> <span class="keyword">const</span> Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0),</div>
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<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> <span class="keywordtype">float</span> groundNormalsUp = 0);</div>
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<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> </div>
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<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812">occupancy2DFromGroundObstacles</a>(</div>
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<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & groundCloud,</div>
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<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & obstaclesCloud,</div>
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<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> cv::Mat & ground,</div>
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<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> cv::Mat & obstacles,</div>
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<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordtype">float</span> cellSize);</div>
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<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812">occupancy2DFromGroundObstacles</a>(</div>
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<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
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<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keyword">const</span> pcl::IndicesPtr & groundIndices,</div>
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<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keyword">const</span> pcl::IndicesPtr & obstaclesIndices,</div>
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<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> cv::Mat & ground,</div>
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<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> cv::Mat & obstacles,</div>
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<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keywordtype">float</span> cellSize);</div>
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<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> </div>
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<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2">occupancy2DFromCloud3D</a>(</div>
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<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
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<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="keyword">const</span> pcl::IndicesPtr & indices,</div>
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<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> cv::Mat & ground,</div>
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<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> cv::Mat & obstacles,</div>
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<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <span class="keywordtype">float</span> cellSize = 0.05f,</div>
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<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="keywordtype">float</span> groundNormalAngle = M_PI_4,</div>
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<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> <span class="keywordtype">int</span> minClusterSize = 20,</div>
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<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> <span class="keywordtype">bool</span> segmentFlatObstacles = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keywordtype">float</span> maxGroundHeight = 0.0f);</div>
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<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span><span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
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<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2">occupancy2DFromCloud3D</a>(</div>
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<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud<PointT>::Ptr & cloud,</div>
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<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> cv::Mat & ground,</div>
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<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> cv::Mat & obstacles,</div>
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<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keywordtype">float</span> cellSize = 0.05f,</div>
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<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordtype">float</span> groundNormalAngle = M_PI_4,</div>
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<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="keywordtype">int</span> minClusterSize = 20,</div>
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<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordtype">bool</span> segmentFlatObstacles = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="keywordtype">float</span> maxGroundHeight = 0.0f);</div>
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<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> </div>
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<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span>} <span class="comment">// namespace util3d</span></div>
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<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
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<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span><span class="preprocessor">#include "rtabmap/core/impl/util3d_mapping.hpp"</span></div>
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<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> </div>
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<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_MAPPING_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a281695150f5c02e6222d050f488a9d6b"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a281695150f5c02e6222d050f488a9d6b">rtabmap::util3d::rayTrace</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT rayTrace(const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)</div><div class="ttdoc">Performs a 2D ray tracing operation between two points on a grid map.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a3bdae076cc5054f35393b744f478b980"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a3bdae076cc5054f35393b744f478b980">rtabmap::util3d::projectCloudOnXYPlane</a></div><div class="ttdeci">pcl::PointCloud< PointT >::Ptr projectCloudOnXYPlane(const typename pcl::PointCloud< PointT > &cloud)</div><div class="ttdoc">Projects a point cloud onto the XY plane by setting all Z coordinates to zero.</div><div class="ttdef"><b>Definition</b> <a href="util3d__mapping_8hpp_source.html#l00041">util3d_mapping.hpp:41</a></div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a4f1002c1825baf4b7606a94b4ea9b15d"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">rtabmap::util3d::occupancy2DFromLaserScan</a></div><div class="ttdeci">RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(const cv::Mat &scan, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a7d90f3a00301f9f7c79cd6fc6cd663c2"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a7d90f3a00301f9f7c79cd6fc6cd663c2">rtabmap::util3d::occupancy2DFromCloud3D</a></div><div class="ttdeci">void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)</div><div class="ttdoc">Generates 2D ground and obstacle occupancy data from a 3D point cloud.</div><div class="ttdef"><b>Definition</b> <a href="util3d__mapping_8hpp_source.html#l00309">util3d_mapping.hpp:309</a></div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_a86ea393c958183f10da8f7327e25d894"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">rtabmap::util3d::create2DMapFromOccupancyLocalMaps</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps(const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &occupancy, float cellSize, float &xMin, float &yMin, float minMapSize=0.0f, bool erode=false, float footprintRadius=0.0f)</div><div class="ttdoc">Creates a 2D occupancy grid map from local occupancy data.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_aa4d323d39ec23ea314c22f0668ab11c4"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aa4d323d39ec23ea314c22f0668ab11c4">rtabmap::util3d::erodeMap</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT erodeMap(const cv::Mat &map)</div><div class="ttdoc">Performs erosion on an occupancy grid map to reduce small noisy obstacles.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ab156e4308c21e118ea0aa164a5ae9812"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ab156e4308c21e118ea0aa164a5ae9812">rtabmap::util3d::occupancy2DFromGroundObstacles</a></div><div class="ttdeci">void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)</div><div class="ttdoc">Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupanc...</div><div class="ttdef"><b>Definition</b> <a href="util3d__mapping_8hpp_source.html#l00234">util3d_mapping.hpp:234</a></div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_acb47883439442306b63f5bf234e87049"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049">rtabmap::util3d::convertImage8U2Map</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat &map8U, bool pgmFormat=false)</div><div class="ttdoc">Converts a grayscale occupancy image (CV_8U) to an occupancy grid map (CV_8S).</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae57dd8dcc488496a2c3872eba97eb4e4"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4">rtabmap::util3d::convertMap2Image8U</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat &map8S, bool pgmFormat=false)</div><div class="ttdoc">Converts an occupancy grid map (CV_8S) to a grayscale image (CV_8U).</div></div>
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<div class="ttc" id="anamespacertabmap_1_1util3d_html_ae7dca67101116f7de0114cea5442ec23"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">rtabmap::util3d::create2DMap</a></div><div class="ttdeci">RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)</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#l00042">BayesFilter.h:42</a></div></div>
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