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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="headertitle"><div class="title">util3d.h</div></div>
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<div class="contents">
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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="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="keyword">namespace </span>util3d</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span>{</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span>cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span>cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(</div>
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT rgbdFromCloud(</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBA> & cloud,</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">bool</span> bgrOrder = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">bool</span> depth16U = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span>pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">bool</span> smoothing,</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">float</span> depthErrorRatio = 0.02f);</div>
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<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span>Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y,</div>
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<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy);</div>
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<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> </div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(</div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</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="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> cv::Mat & imageDepth,</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 & imageDepthConfidence,</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> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> confidenceThr = 0,</div>
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<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> </div>
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<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(</div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
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<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keywordtype">float</span> cx, <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">float</span> fx, <span class="keywordtype">float</span> fy,</div>
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<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
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<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(</div>
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<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
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<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <span class="keyword">const</span> cv::Mat & imageDepth,</div>
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<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</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="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(</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> cv::Mat & imageDepthConfidence,</div>
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<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</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="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</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="l00312" name="l00312"></a><span class="lineno"> 312</span> std::vector<int> * validIndices = 0);</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="l00343" name="l00343"></a><span class="lineno"> 343</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(</div>
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<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
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<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</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="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
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<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(</div>
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<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> <span class="keyword">const</span> cv::Mat & imageRgb,</div>
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|
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <span class="keyword">const</span> cv::Mat & imageDisparity,</div>
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<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</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="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordtype">int</span> decimation = 1,</div>
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|
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> std::vector<int> * validIndices = 0);</div>
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<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> </div>
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<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(</div>
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<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">const</span> cv::Mat & imageLeft,</div>
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<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keyword">const</span> cv::Mat & imageRight,</div>
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<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</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="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> std::vector<int> * validIndices = 0,</div>
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<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="keyword">const</span> ParametersMap & parameters = ParametersMap());</div>
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<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> </div>
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<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span>std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromSensorData(</div>
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<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</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="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
|
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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|
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> std::vector<pcl::IndicesPtr> * validIndices = 0,</div>
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<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
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<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</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="l00485" name="l00485"></a><span class="lineno"> 485</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="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
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<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(</div>
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<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</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="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> std::vector<int> * validIndices = 0,</div>
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<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
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<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</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="l00523" name="l00523"></a><span class="lineno"> 523</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="l00524" name="l00524"></a><span class="lineno"> 524</span> </div>
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<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span>std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(</div>
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<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</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="l00559" name="l00559"></a><span class="lineno"> 559</span> <span class="keywordtype">int</span> decimation = 1,</div>
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<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> std::vector<pcl::IndicesPtr > * validIndices = 0,</div>
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<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
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<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</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="l00565" name="l00565"></a><span class="lineno"> 565</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="l00566" name="l00566"></a><span class="lineno"> 566</span> </div>
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<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(</div>
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<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</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="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keywordtype">int</span> decimation = 1,</div>
|
|
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordtype">float</span> maxDepth = 0.0f,</div>
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<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keywordtype">float</span> minDepth = 0.0f,</div>
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<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> std::vector<int> * validIndices = 0,</div>
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<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> <span class="keyword">const</span> ParametersMap & stereoParameters = ParametersMap(),</div>
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<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</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="l00601" name="l00601"></a><span class="lineno"> 601</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="l00602" name="l00602"></a><span class="lineno"> 602</span> </div>
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<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImage(</div>
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<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keyword">const</span> cv::Mat & depthImage,</div>
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<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> <span class="keywordtype">float</span> fx,</div>
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<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> <span class="keywordtype">float</span> fy,</div>
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|
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> <span class="keywordtype">float</span> cx,</div>
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<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> <span class="keywordtype">float</span> cy,</div>
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<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> <span class="keywordtype">float</span> maxDepth = 0,</div>
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|
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> <span class="keywordtype">float</span> minDepth = 0,</div>
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<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</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="l00653" name="l00653"></a><span class="lineno"> 653</span>pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImages(</div>
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<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> <span class="keyword">const</span> cv::Mat & depthImages,</div>
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<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keywordtype">float</span> maxDepth,</div>
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<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> <span class="keywordtype">float</span> minDepth);</div>
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<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> </div>
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<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga16a77d267dc60b14b5bf48ca52547bae"> 689</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="l00694" name="l00694"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75f96d3e3d5d62ce6a9d16a1753c775a"> 694</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="l00704" name="l00704"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9470f081e8de0a34550e91e2f74bacd5"> 704</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="l00709" name="l00709"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gad5764a399e3a8a5586b94490e0cd7d15"> 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::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="l00714" name="l00714"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9933faab17e984b2789926abd2ba0caf"> 714</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="l00719" name="l00719"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaa98ccb732868f5ab4e91cd6f82602852"> 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::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="l00724" name="l00724"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gadeb1f66fd39cfcb39c2f152c36b3be62"> 724</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="l00729" name="l00729"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga51c683da166a9fcf7e7bf6c834ca03a4"> 729</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="l00734" name="l00734"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga655a37385c6ca40ec99e76045c04040b"> 734</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="l00739" name="l00739"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga04169bd4b4488350b08709af9581b289"> 739</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="l00744" name="l00744"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga75bf455d6cc912b4ee18785de71c50a5"> 744</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="l00749" name="l00749"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gaf509a7c65e02d8690c971294c43bda47"> 749</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="l00754" name="l00754"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga9344c712c57af92d7612b0af76226f06"> 754</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="l00759" name="l00759"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#ga79e460158de1d3934abcd8fad488fb24"> 759</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="l00764" name="l00764"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gafb165d79d23620b42af0653ae045fb91"> 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__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="l00769" name="l00769"></a><span class="lineno"><a class="line" href="group__LaserScanFromPointCloud.html#gab2d54043075851c5e23f487001adacb6"> 769</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="l00770" name="l00770"></a><span class="lineno"> 770</span> </div>
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<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</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="l00776" name="l00776"></a><span class="lineno"> 776</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="l00777" name="l00777"></a><span class="lineno"> 777</span> </div>
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<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac0823dd28e488bef9499faee54ff8a4e"> 802</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="l00807" name="l00807"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0898d06b1639f58ed92b66f311e786aa"> 807</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="l00812" name="l00812"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gac278e2f3f54ed49b5d3a6afa606a466b"> 812</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="l00817" name="l00817"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#gae4e7c218a24fb8d5c3fd7143462d3070"> 817</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="l00822" name="l00822"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga6cb623d1b3ce9c244a7d4ef346a721db"> 822</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="l00827" name="l00827"></a><span class="lineno"><a class="line" href="group__LaserScan2dFromPointCloud.html#ga0354b321c4196232fb1183c3a322b5f8"> 827</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="l00828" name="l00828"></a><span class="lineno"> 828</span> </div>
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<div class="line"><a id="l00845" name="l00845"></a><span class="lineno"><a class="line" href="group__LaserScanToPointCloud.html#ga394ec840a58a1203fac9725d49a0013c"> 845</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="l00846" name="l00846"></a><span class="lineno"> 846</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(<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="l00847" name="l00847"></a><span class="lineno"> 847</span>pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(<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="l00848" name="l00848"></a><span class="lineno"> 848</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(<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="l00849" name="l00849"></a><span class="lineno"> 849</span>pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(<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="l00850" name="l00850"></a><span class="lineno"> 850</span>pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(<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="l00851" name="l00851"></a><span class="lineno"> 851</span>pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(<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="l00852" name="l00852"></a><span class="lineno"> 852</span> </div>
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<div class="line"><a id="l00853" name="l00853"></a><span class="lineno"> 853</span> </div>
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<div class="line"><a id="l00854" name="l00854"></a><span class="lineno"> 854</span>pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(<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="l00855" name="l00855"></a><span class="lineno"> 855</span>pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(<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="l00856" name="l00856"></a><span class="lineno"> 856</span>pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(<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="l00857" name="l00857"></a><span class="lineno"> 857</span>pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(<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="l00858" name="l00858"></a><span class="lineno"> 858</span>pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(<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="l00859" name="l00859"></a><span class="lineno"> 859</span>pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(<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="l00860" name="l00860"></a><span class="lineno"> 860</span> </div>
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<div class="line"><a id="l00882" name="l00882"></a><span class="lineno"> 882</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT getMinMax3D(<span class="keyword">const</span> cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);</div>
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<div class="line"><a id="l00883" name="l00883"></a><span class="lineno"> 883</span> </div>
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<div class="line"><a id="l00897" name="l00897"></a><span class="lineno"> 897</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT getMinMax3D(<span class="keyword">const</span> cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);</div>
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<div class="line"><a id="l00898" name="l00898"></a><span class="lineno"> 898</span> </div>
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<div class="line"><a id="l00921" name="l00921"></a><span class="lineno"> 921</span>cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(</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::Point2f & pt,</div>
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<div class="line"><a id="l00923" name="l00923"></a><span class="lineno"> 923</span> <span class="keywordtype">float</span> disparity,</div>
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<div class="line"><a id="l00924" name="l00924"></a><span class="lineno"> 924</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="l00925" name="l00925"></a><span class="lineno"> 925</span> </div>
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<div class="line"><a id="l00944" name="l00944"></a><span class="lineno"> 944</span>cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(</div>
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<div class="line"><a id="l00945" name="l00945"></a><span class="lineno"> 945</span> <span class="keyword">const</span> cv::Point2f & pt,</div>
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<div class="line"><a id="l00946" name="l00946"></a><span class="lineno"> 946</span> <span class="keyword">const</span> cv::Mat & disparity,</div>
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<div class="line"><a id="l00947" name="l00947"></a><span class="lineno"> 947</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="l00948" name="l00948"></a><span class="lineno"> 948</span> </div>
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<div class="line"><a id="l00969" name="l00969"></a><span class="lineno"> 969</span>cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(</div>
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<div class="line"><a id="l00970" name="l00970"></a><span class="lineno"> 970</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00971" name="l00971"></a><span class="lineno"> 971</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
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<div class="line"><a id="l00972" name="l00972"></a><span class="lineno"> 972</span> <span class="keyword">const</span> cv::Mat & laserScan,</div>
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<div class="line"><a id="l00973" name="l00973"></a><span class="lineno"> 973</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="l00974" name="l00974"></a><span class="lineno"> 974</span> </div>
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<div class="line"><a id="l00995" name="l00995"></a><span class="lineno"> 995</span>cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(</div>
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<div class="line"><a id="l00996" name="l00996"></a><span class="lineno"> 996</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l00997" name="l00997"></a><span class="lineno"> 997</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK,</div>
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<div class="line"><a id="l00998" name="l00998"></a><span class="lineno"> 998</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,</div>
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<div class="line"><a id="l00999" name="l00999"></a><span class="lineno"> 999</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="l01000" name="l01000"></a><span class="lineno"> 1000</span> </div>
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<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span>cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(</div>
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<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span> <span class="keyword">const</span> cv::Size & imageSize,</div>
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<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"> 1023</span> <span class="keyword">const</span> cv::Mat & cameraMatrixK, </div>
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<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> <span class="keyword">const</span> pcl::PCLPointCloud2::Ptr laserScan,</div>
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<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</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="l01026" name="l01026"></a><span class="lineno"> 1026</span> </div>
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<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT fillProjectedCloudHoles(</div>
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<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> cv::Mat & depthRegistered,</div>
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<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> <span class="keywordtype">bool</span> verticalDirection,</div>
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<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> <span class="keywordtype">bool</span> fillToBorder);</div>
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<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> </div>
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<div class="line"><a id="l01079" name="l01079"></a><span class="lineno"> 1079</span>cv::Mat RTABMAP_CORE_EXPORT filterFloor(</div>
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<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span> <span class="keywordtype">float</span> threshold,</div>
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<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span> cv::Mat * depthBelow = 0);</div>
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<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span> </div>
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<div class="line"><a id="l01105" name="l01105"></a><span class="lineno"> 1105</span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (</div>
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<div class="line"><a id="l01106" name="l01106"></a><span class="lineno"> 1106</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,</div>
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<div class="line"><a id="l01107" name="l01107"></a><span class="lineno"> 1107</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
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<div class="line"><a id="l01108" name="l01108"></a><span class="lineno"> 1108</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="l01109" name="l01109"></a><span class="lineno"> 1109</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
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<div class="line"><a id="l01110" name="l01110"></a><span class="lineno"> 1110</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
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<div class="line"><a id="l01111" name="l01111"></a><span class="lineno"> 1111</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
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<div class="line"><a id="l01112" name="l01112"></a><span class="lineno"> 1112</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
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<div class="line"><a id="l01113" name="l01113"></a><span class="lineno"> 1113</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
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<div class="line"><a id="l01114" name="l01114"></a><span class="lineno"> 1114</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l01115" name="l01115"></a><span class="lineno"> 1115</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="l01136" name="l01136"></a><span class="lineno"> 1136</span>std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (</div>
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<div class="line"><a id="l01137" name="l01137"></a><span class="lineno"> 1137</span> <span class="keyword">const</span> pcl::PointCloud<pcl::PointXYZINormal> & cloud,</div>
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<div class="line"><a id="l01138" name="l01138"></a><span class="lineno"> 1138</span> <span class="keyword">const</span> std::map<int, Transform> & cameraPoses,</div>
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<div class="line"><a id="l01139" name="l01139"></a><span class="lineno"> 1139</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="l01140" name="l01140"></a><span class="lineno"> 1140</span> <span class="keywordtype">float</span> maxDistance = 0.0f,</div>
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<div class="line"><a id="l01141" name="l01141"></a><span class="lineno"> 1141</span> <span class="keywordtype">float</span> maxAngle = 0.0f,</div>
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<div class="line"><a id="l01142" name="l01142"></a><span class="lineno"> 1142</span> <span class="keywordtype">float</span> maxDepthError = 0.0f,</div>
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<div class="line"><a id="l01143" name="l01143"></a><span class="lineno"> 1143</span> <span class="keyword">const</span> std::vector<float> & roiRatios = std::vector<float>(),</div>
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<div class="line"><a id="l01144" name="l01144"></a><span class="lineno"> 1144</span> <span class="keyword">const</span> cv::Mat & projMask = cv::Mat(),</div>
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<div class="line"><a id="l01145" name="l01145"></a><span class="lineno"> 1145</span> <span class="keywordtype">bool</span> distanceToCamPolicy = <span class="keyword">false</span>,</div>
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<div class="line"><a id="l01146" name="l01146"></a><span class="lineno"> 1146</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="l01147" name="l01147"></a><span class="lineno"> 1147</span> </div>
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<div class="line"><a id="l01157" name="l01157"></a><span class="lineno"> 1157</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT isFinite(<span class="keyword">const</span> cv::Point3f & pt);</div>
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<div class="line"><a id="l01158" name="l01158"></a><span class="lineno"> 1158</span> </div>
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<div class="line"><a id="l01168" name="l01168"></a><span class="lineno"> 1168</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(</div>
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<div class="line"><a id="l01169" name="l01169"></a><span class="lineno"> 1169</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);</div>
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<div class="line"><a id="l01179" name="l01179"></a><span class="lineno"> 1179</span>pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(</div>
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<div class="line"><a id="l01180" name="l01180"></a><span class="lineno"> 1180</span> <span class="keyword">const</span> std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);</div>
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<div class="line"><a id="l01181" name="l01181"></a><span class="lineno"> 1181</span> </div>
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<div class="line"><a id="l01196" name="l01196"></a><span class="lineno"> 1196</span>pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(</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::vector<pcl::IndicesPtr> & indices);</div>
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<div class="line"><a id="l01198" name="l01198"></a><span class="lineno"> 1198</span> </div>
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<div class="line"><a id="l01213" name="l01213"></a><span class="lineno"> 1213</span>pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(</div>
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<div class="line"><a id="l01214" name="l01214"></a><span class="lineno"> 1214</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesA,</div>
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<div class="line"><a id="l01215" name="l01215"></a><span class="lineno"> 1215</span> <span class="keyword">const</span> pcl::IndicesPtr & indicesB);</div>
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<div class="line"><a id="l01216" name="l01216"></a><span class="lineno"> 1216</span> </div>
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<div class="line"><a id="l01228" name="l01228"></a><span class="lineno"> 1228</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT savePCDWords(</div>
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<div class="line"><a id="l01229" name="l01229"></a><span class="lineno"> 1229</span> <span class="keyword">const</span> std::string & fileName,</div>
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<div class="line"><a id="l01230" name="l01230"></a><span class="lineno"> 1230</span> <span class="keyword">const</span> std::multimap<int, pcl::PointXYZ> & words,</div>
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<div class="line"><a id="l01231" name="l01231"></a><span class="lineno"> 1231</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="l01232" name="l01232"></a><span class="lineno"> 1232</span> </div>
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<div class="line"><a id="l01244" name="l01244"></a><span class="lineno"> 1244</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT savePCDWords(</div>
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<div class="line"><a id="l01245" name="l01245"></a><span class="lineno"> 1245</span> <span class="keyword">const</span> std::string & fileName,</div>
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<div class="line"><a id="l01246" name="l01246"></a><span class="lineno"> 1246</span> <span class="keyword">const</span> std::multimap<int, cv::Point3f> & words,</div>
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<div class="line"><a id="l01247" name="l01247"></a><span class="lineno"> 1247</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="l01248" name="l01248"></a><span class="lineno"> 1248</span> </div>
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<div class="line"><a id="l01259" name="l01259"></a><span class="lineno"> 1259</span>cv::Mat RTABMAP_CORE_EXPORT loadBINScan(<span class="keyword">const</span> std::string & fileName);</div>
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<div class="line"><a id="l01268" name="l01268"></a><span class="lineno"> 1268</span>pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(<span class="keyword">const</span> std::string & fileName);</div>
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<div class="line"><a id="l01277" name="l01277"></a><span class="lineno"> 1277</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(<span class="keyword">const</span> std::string & fileName, <span class="keywordtype">int</span> dim);</div>
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<div class="line"><a id="l01278" name="l01278"></a><span class="lineno"> 1278</span> </div>
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<div class="line"><a id="l01289" name="l01289"></a><span class="lineno"> 1289</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT loadScan(<span class="keyword">const</span> std::string & path);</div>
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<div class="line"><a id="l01290" name="l01290"></a><span class="lineno"> 1290</span> </div>
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<div class="line"><a id="l01304" name="l01304"></a><span class="lineno"> 1304</span>RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(</div>
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<div class="line"><a id="l01305" name="l01305"></a><span class="lineno"> 1305</span> <span class="keyword">const</span> std::string & path,</div>
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<div class="line"><a id="l01306" name="l01306"></a><span class="lineno"> 1306</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="l01307" name="l01307"></a><span class="lineno"> 1307</span> <span class="keywordtype">int</span> downsampleStep = 1,</div>
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<div class="line"><a id="l01308" name="l01308"></a><span class="lineno"> 1308</span> <span class="keywordtype">float</span> voxelSize = 0.0f);</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="l01341" name="l01341"></a><span class="lineno"> 1341</span><a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT deskew(</div>
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<div class="line"><a id="l01342" name="l01342"></a><span class="lineno"> 1342</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="l01343" name="l01343"></a><span class="lineno"> 1343</span> <span class="keywordtype">double</span> inputStamp,</div>
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<div class="line"><a id="l01344" name="l01344"></a><span class="lineno"> 1344</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="l01345" name="l01345"></a><span class="lineno"> 1345</span> </div>
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<div class="line"><a id="l01346" name="l01346"></a><span class="lineno"> 1346</span>} <span class="comment">// namespace util3d</span></div>
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<div class="line"><a id="l01347" name="l01347"></a><span class="lineno"> 1347</span>} <span class="comment">// namespace rtabmap</span></div>
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<div class="line"><a id="l01348" name="l01348"></a><span class="lineno"> 1348</span> </div>
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<div class="line"><a id="l01349" name="l01349"></a><span class="lineno"> 1349</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="l01350" name="l01350"></a><span class="lineno"> 1350</span> (<span class="keywordtype">float</span>, x, x)</div>
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<div class="line"><a id="l01351" name="l01351"></a><span class="lineno"> 1351</span> (<span class="keywordtype">float</span>, y, y)</div>
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<div class="line"><a id="l01352" name="l01352"></a><span class="lineno"> 1352</span> (<span class="keywordtype">float</span>, z, z)</div>
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<div class="line"><a id="l01353" name="l01353"></a><span class="lineno"> 1353</span> (<span class="keywordtype">float</span>, intensity, intensity)</div>
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<div class="line"><a id="l01354" name="l01354"></a><span class="lineno"> 1354</span> (std::uint16_t, ring, ring)</div>
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<div class="line"><a id="l01355" name="l01355"></a><span class="lineno"> 1355</span> (<span class="keywordtype">float</span>, time, time)</div>
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<div class="line"><a id="l01356" name="l01356"></a><span class="lineno"> 1356</span>)</div>
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<div class="line"><a id="l01357" name="l01357"></a><span class="lineno"> 1357</span> </div>
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<div class="line"><a id="l01358" name="l01358"></a><span class="lineno"> 1358</span><span class="preprocessor">#include "rtabmap/core/impl/util3d.hpp"</span></div>
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<div class="line"><a id="l01359" name="l01359"></a><span class="lineno"> 1359</span> </div>
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<div class="line"><a id="l01360" name="l01360"></a><span class="lineno"> 1360</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_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="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="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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