rtabmap::util3d Namespace Reference

Functions
std::multimap< int, cv::KeyPoint > RTABMAP_EXP	aggregate (const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
cv::Mat	bgrFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	cloudFromDepth (const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	cloudFromDisparity (const cv::Mat &imageDisparity, float cx, float cy, float fx, float baseline, int decimation=1)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	cloudFromDisparityRGB (const cv::Mat &imageRgb, const cv::Mat &imageDisparity, float cx, float cy, float fx, float baseline, int decimation=1)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	cloudFromStereoImages (const cv::Mat &imageLeft, const cv::Mat &imageRight, float cx, float cy, float fx, float baseline, int decimation=1)
pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP	computeNormals (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int normalKSearch=20)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	computeNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int normalKSearch=20)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	computeNormalsSmoothed (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float smoothingSearchRadius=0.025, bool smoothingPolynomialFit=true)
pcl::IndicesPtr RTABMAP_EXP	concatenate (const std::vector< pcl::IndicesPtr > &indices)
	Concatenate a vector of indices to a single vector.
pcl::IndicesPtr RTABMAP_EXP	concatenate (const pcl::IndicesPtr &indicesA, const pcl::IndicesPtr &indicesB)
	Concatenate two vector of indices to a single vector.
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds)
cv::Mat RTABMAP_EXP	convertMap2Image8U (const cv::Mat &map8S)
int RTABMAP_EXP	countUniquePairs (const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB)
cv::Mat RTABMAP_EXP	create2DMap (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f)
cv::Mat RTABMAP_EXP	create2DMapFromOccupancyLocalMaps (const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &occupancy, float cellSize, float &xMin, float &yMin, float minMapSize=0.0f, bool erode=false)
pcl::PolygonMesh::Ptr RTABMAP_EXP	createMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloudWithNormals, float gp3SearchRadius=0.025, float gp3Mu=2.5, int gp3MaximumNearestNeighbors=100, float gp3MaximumSurfaceAngle=M_PI/4, float gp3MinimumAngle=M_PI/18, float gp3MaximumAngle=2 *M_PI/3, bool gp3NormalConsistency=false)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	cvMat2Cloud (const cv::Mat &matrix, const Transform &tranform=Transform::getIdentity())
cv::Mat RTABMAP_EXP	cvtDepthFromFloat (const cv::Mat &depth32F)
cv::Mat RTABMAP_EXP	cvtDepthToFloat (const cv::Mat &depth16U)
cv::Mat RTABMAP_EXP	decimate (const cv::Mat &image, int d)
cv::Mat RTABMAP_EXP	depthFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, float &fx, float &fy, bool depth16U=true)
cv::Mat RTABMAP_EXP	depthFromDisparity (const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)
cv::Mat RTABMAP_EXP	depthFromStereoCorrespondences (const cv::Mat &leftImage, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask, float fx, float baseline)
cv::Mat RTABMAP_EXP	depthFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, float fx, float baseline, int flowWinSize=9, int flowMaxLevel=4, int flowIterations=20, double flowEps=0.02)
cv::Mat RTABMAP_EXP	disparityFromStereoCorrespondences (const cv::Mat &leftImage, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask, float maxSlope=0.1f)
cv::Mat RTABMAP_EXP	disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage)
cv::Mat RTABMAP_EXP	disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, int flowWinSize=9, int flowMaxLevel=4, int flowIterations=20, double flowEps=0.02, float maxCorrespondencesSlope=0.1f)
template<typename PointT >
std::vector< pcl::IndicesPtr >	extractClusters (const typename pcl::PointCloud< PointT >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize, int *biggestClusterIndex)
template<typename PointT >
std::vector< pcl::IndicesPtr >	extractClusters (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
	Wrapper of the pcl::EuclideanClusterExtraction class.
template<typename PointT >
pcl::IndicesPtr	extractNegativeIndices (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices)
void RTABMAP_EXP	extractXYZCorrespondences (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
void RTABMAP_EXP	extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const cv::Mat &depthImage1, const cv::Mat &depthImage2, float cx, float cy, float fx, float fy, float maxDepth, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
void RTABMAP_EXP	extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis)
void RTABMAP_EXP	extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZRGB > &cloud1, const pcl::PointCloud< pcl::PointXYZRGB > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis)
template<typename PointT >
void	extractXYZCorrespondencesImpl (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< PointT > &cloud1, const pcl::PointCloud< PointT > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis)
void RTABMAP_EXP	extractXYZCorrespondencesRANSAC (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
void RTABMAP_EXP	fillRegisteredDepthHoles (cv::Mat &depth, bool vertical, bool horizontal, bool fillDoubleHoles=false)
void RTABMAP_EXP	filterMaxDepth (pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates)
void RTABMAP_EXP	findCorrespondences (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< cv::Point2f, cv::Point2f > > &pairs)
void RTABMAP_EXP	findCorrespondences (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, std::set< int > *uniqueCorrespondences=0)
std::list< std::pair < cv::Point2f, cv::Point2f > >	findCorrespondences (const std::multimap< int, cv::KeyPoint > &words1, const std::multimap< int, cv::KeyPoint > &words2)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	generateKeypoints3DDepth (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float fx, float fy, float cx, float cy, const Transform &transform)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	generateKeypoints3DDisparity (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float fx, float baseline, float cx, float cy, const Transform &transform)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	generateKeypoints3DStereo (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &leftImage, const cv::Mat &rightImage, float fx, float baseline, float cx, float cy, const Transform &transform=Transform::getIdentity(), int flowWinSize=9, int flowMaxLevel=4, int flowIterations=20, double flowEps=0.02)
std::multimap< int, pcl::PointXYZ > RTABMAP_EXP	generateWords3DMono (const std::multimap< int, cv::KeyPoint > &kpts, const std::multimap< int, cv::KeyPoint > &previousKpts, float fx, float fy, float cx, float cy, const Transform &localTransform, Transform &cameraTransform, int pnpIterations=100, float pnpReprojError=8.0f, int pnpFlags=cv::ITERATIVE, float ransacParam1=3.0f, float ransacParam2=0.99f, const std::multimap< int, pcl::PointXYZ > &refGuess3D=std::multimap< int, pcl::PointXYZ >(), double *variance=0)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	get3DFASTKpts (const cv::Mat &image, const cv::Mat &imageDepth, float constant, int fastThreshold=50, bool fastNonmaxSuppression=true, float maxDepth=5.0f)
int RTABMAP_EXP	getCorrespondencesCount (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance)
float RTABMAP_EXP	getDepth (const cv::Mat &depthImage, float x, float y, bool smoothing, float maxZError=0.02f)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	getICPReadyCloud (const cv::Mat &depth, float fx, float fy, float cx, float cy, int decimation, double maxDepth, float voxel, int samples, const Transform &transform=Transform::getIdentity())
Transform RTABMAP_EXP	icp (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool *hasConverged=0, double *variance=0, int *correspondences=0)
Transform RTABMAP_EXP	icp2D (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool *hasConverged=0, double *variance=0, int *correspondences=0)
Transform RTABMAP_EXP	icpPointToPlane (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool *hasConverged=0, double *variance=0, int *correspondences=0)
cv::Mat RTABMAP_EXP	laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	laserScanToPointCloud (const cv::Mat &laserScan)
template<typename PointT >
pcl::IndicesPtr	normalFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, float radiusSearch, const Eigen::Vector4f &viewpoint)
template<typename PointT >
pcl::IndicesPtr	normalFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, float radiusSearch, const Eigen::Vector4f &viewpoint)
	Given a normal and a maximum angle error, keep all points of the cloud respecting this normal.
template<typename PointT >
void	occupancy2DFromCloud3D (const typename pcl::PointCloud< PointT >::Ptr &cloud, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize)
void RTABMAP_EXP	occupancy2DFromLaserScan (const cv::Mat &scan, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	passThrough (const typename pcl::PointCloud< PointT >::Ptr &cloud, const std::string &axis, float min, float max)
template<typename PointT >
void	projectCloudOnXYPlane (typename pcl::PointCloud< PointT >::Ptr &cloud)
pcl::PointXYZ RTABMAP_EXP	projectDepthTo3D (const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float maxZError=0.02f)
pcl::PointXYZ RTABMAP_EXP	projectDisparityTo3D (const cv::Point2f &pt, float disparity, float cx, float cy, float fx, float baseline)
pcl::PointXYZ RTABMAP_EXP	projectDisparityTo3D (const cv::Point2f &pt, const cv::Mat &disparity, float cx, float cy, float fx, float baseline)
template<typename PointT >
pcl::IndicesPtr	radiusFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
template<typename PointT >
pcl::IndicesPtr	radiusFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Wrapper of the pcl::RadiusOutlierRemoval class.
void RTABMAP_EXP	rayTrace (const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)
cv::Mat RTABMAP_EXP	registerDepth (const cv::Mat &depth, const cv::Mat &depthK, const cv::Mat &colorK, const rtabmap::Transform &transform)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	removeNaNFromPointCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	removeNaNNormalsFromPointCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud)
void RTABMAP_EXP	rgbdFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, cv::Mat &rgb, cv::Mat &depth, float &fx, float &fy, bool bgrOrder=true, bool depth16U=true)
cv::Mat RTABMAP_EXP	rgbFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	sampling (const typename pcl::PointCloud< PointT >::Ptr &cloud, int samples)
void RTABMAP_EXP	savePCDWords (const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())
template<typename PointT >
void	segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, float normalRadiusSearch, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles)
Transform RTABMAP_EXP	transformFromXYZCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, bool refineModel=false, double refineModelSigma=3.0, int refineModelIterations=10, std::vector< int > *inliers=0, double *variance=0)
template<typename PointT >
PointT	transformPoint (const PointT &pt, const Transform &transform)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	transformPointCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud, const Transform &transform)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	voxelize (const typename pcl::PointCloud< PointT >::Ptr &cloud, float voxelSize)

---

Function Documentation

std::multimap< int, cv::KeyPoint > rtabmap::util3d::aggregate	(	const std::list< int > &	wordIds,
		const std::vector< cv::KeyPoint > &	keypoints
	)

Definition at line 687 of file util3d.cpp.

cv::Mat rtabmap::util3d::bgrFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		bool	bgrOrder
	)

Definition at line 63 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::cloudFromDepth	(	const cv::Mat &	imageDepth,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		int	decimation = 1
	)

Definition at line 883 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::cloudFromDepthRGB	(	const cv::Mat &	imageRgb,
		const cv::Mat &	imageDepth,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		int	decimation = 1
	)

Definition at line 925 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::cloudFromDisparity	(	const cv::Mat &	imageDisparity,
		float	cx,
		float	cy,
		float	fx,
		float	baseline,
		int	decimation = 1
	)

Definition at line 991 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::cloudFromDisparityRGB	(	const cv::Mat &	imageRgb,
		const cv::Mat &	imageDisparity,
		float	cx,
		float	cy,
		float	fx,
		float	baseline,
		int	decimation = 1
	)

Definition at line 1038 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::cloudFromStereoImages	(	const cv::Mat &	imageLeft,
		const cv::Mat &	imageRight,
		float	cx,
		float	cy,
		float	fx,
		float	baseline,
		int	decimation = 1
	)

Definition at line 1105 of file util3d.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr rtabmap::util3d::computeNormals	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		int	normalKSearch = 20
	)

Definition at line 2211 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::computeNormals	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		int	normalKSearch = 20
	)

Definition at line 2235 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::computeNormalsSmoothed	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	smoothingSearchRadius = 0.025,
		bool	smoothingPolynomialFit = true
	)

Definition at line 2259 of file util3d.cpp.

pcl::IndicesPtr rtabmap::util3d::concatenate

(

const std::vector< pcl::IndicesPtr > &

indices

)

Concatenate a vector of indices to a single vector.

Parameters:

indices

the vector of indices to concatenate.

Note:

This methods doesn't check if indices exist in the two set and doesn't sort the output indices. If we are not sure if the the two set of indices set are disjoint and/or you need sorted indices, the use of mergeIndices().

Returns:

the indices concatenated.

Definition at line 3087 of file util3d.cpp.

pcl::IndicesPtr rtabmap::util3d::concatenate	(	const pcl::IndicesPtr &	indicesA,
		const pcl::IndicesPtr &	indicesB
	)

Concatenate two vector of indices to a single vector.

Parameters:

indicesA	the first vector of indices to concatenate.
indicesB	the second vector of indices to concatenate.

Note:

This methods doesn't check if indices exist in the two set and doesn't sort the output indices. If we are not sure if the the two set of indices set are disjoint and/or you need sorted indices, the use of mergeIndices().

Returns:

the indices concatenated.

Definition at line 3107 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::concatenateClouds

(

const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &

clouds

)

Definition at line 2416 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::concatenateClouds

(

const std::list< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &

clouds

)

Definition at line 2426 of file util3d.cpp.

cv::Mat rtabmap::util3d::convertMap2Image8U

(

const cv::Mat &

map8S

)

Definition at line 3059 of file util3d.cpp.

int rtabmap::util3d::countUniquePairs	(	const std::multimap< int, pcl::PointXYZ > &	wordsA,
		const std::multimap< int, pcl::PointXYZ > &	wordsB
	)

Definition at line 1704 of file util3d.cpp.

cv::Mat rtabmap::util3d::create2DMap	(	const std::map< int, Transform > &	poses,
		const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &	scans,
		float	cellSize,
		bool	unknownSpaceFilled,
		float &	xMin,
		float &	yMin,
		float	minMapSize
	)

Create 2d Occupancy grid (CV_8S) -1 = unknown 0 = empty space 100 = obstacle

Parameters:

poses
scans
cellSize	m
unknownSpaceFilled	if false no fill, otherwise a virtual laser sweeps the unknown space from each pose (stopping on detected obstacle)
xMin
yMin

Definition at line 2830 of file util3d.cpp.

cv::Mat rtabmap::util3d::create2DMapFromOccupancyLocalMaps	(	const std::map< int, Transform > &	poses,
		const std::map< int, std::pair< cv::Mat, cv::Mat > > &	occupancy,
		float	cellSize,
		float &	xMin,
		float &	yMin,
		float	minMapSize,
		bool	erode
	)

Create 2d Occupancy grid (CV_8S) from 2d occupancy -1 = unknown 0 = empty space 100 = obstacle

Parameters:

poses
occupancy	<empty, occupied>
cellSize	m
xMin
yMin
minMapSize	minimum width (m)
erode

Definition at line 2576 of file util3d.cpp.

pcl::PolygonMesh::Ptr rtabmap::util3d::createMesh	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloudWithNormals,
		float	gp3SearchRadius = 0.025,
		float	gp3Mu = 2.5,
		int	gp3MaximumNearestNeighbors = 100,
		float	gp3MaximumSurfaceAngle = M_PI/4,
		float	gp3MinimumAngle = M_PI/18,
		float	gp3MaximumAngle = 2*M_PI/3,
		bool	gp3NormalConsistency = false
	)

Definition at line 2462 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::cvMat2Cloud	(	const cv::Mat &	matrix,
		const Transform &	tranform = Transform::getIdentity()
	)

Definition at line 2329 of file util3d.cpp.

cv::Mat rtabmap::util3d::cvtDepthFromFloat

(

const cv::Mat &

depth32F

)

Definition at line 226 of file util3d.cpp.

cv::Mat rtabmap::util3d::cvtDepthToFloat

(

const cv::Mat &

depth16U

)

Definition at line 250 of file util3d.cpp.

cv::Mat rtabmap::util3d::decimate	(	const cv::Mat &	image,
		int	d
	)

Definition at line 3119 of file util3d.cpp.

cv::Mat rtabmap::util3d::depthFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		float &	fx,
		float &	fy,
		bool	depth16U = true
	)

Definition at line 89 of file util3d.cpp.

cv::Mat rtabmap::util3d::depthFromDisparity	(	const cv::Mat &	disparity,
		float	fx,
		float	baseline,
		int	type = CV_32FC1
	)

Definition at line 1320 of file util3d.cpp.

cv::Mat rtabmap::util3d::depthFromStereoCorrespondences	(	const cv::Mat &	leftImage,
		const std::vector< cv::Point2f > &	leftCorners,
		const std::vector< cv::Point2f > &	rightCorners,
		const std::vector< unsigned char > &	mask,
		float	fx,
		float	baseline
	)

Definition at line 1262 of file util3d.cpp.

cv::Mat rtabmap::util3d::depthFromStereoImages	(	const cv::Mat &	leftImage,
		const cv::Mat &	rightImage,
		const std::vector< cv::Point2f > &	leftCorners,
		float	fx,
		float	baseline,
		int	flowWinSize = 9,
		int	flowMaxLevel = 4,
		int	flowIterations = 20,
		double	flowEps = 0.02
	)

Definition at line 1200 of file util3d.cpp.

cv::Mat rtabmap::util3d::disparityFromStereoCorrespondences	(	const cv::Mat &	leftImage,
		const std::vector< cv::Point2f > &	leftCorners,
		const std::vector< cv::Point2f > &	rightCorners,
		const std::vector< unsigned char > &	mask,
		float	maxSlope = 0.1f
	)

Definition at line 1237 of file util3d.cpp.

cv::Mat rtabmap::util3d::disparityFromStereoImages	(	const cv::Mat &	leftImage,
		const cv::Mat &	rightImage
	)

Definition at line 1131 of file util3d.cpp.

cv::Mat rtabmap::util3d::disparityFromStereoImages	(	const cv::Mat &	leftImage,
		const cv::Mat &	rightImage,
		const std::vector< cv::Point2f > &	leftCorners,
		int	flowWinSize = 9,
		int	flowMaxLevel = 4,
		int	flowIterations = 20,
		double	flowEps = 0.02,
		float	maxCorrespondencesSlope = 0.1f
	)

Definition at line 1165 of file util3d.cpp.

template<typename PointT >

std::vector< pcl::IndicesPtr > rtabmap::util3d::extractClusters	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		float	clusterTolerance,
		int	minClusterSize,
		int	maxClusterSize = std::numeric_limits< int >::max(),
		int *	biggestClusterIndex = 0
	)

For convenience.

Definition at line 363 of file util3d.hpp.

template<typename PointT >

std::vector< pcl::IndicesPtr > rtabmap::util3d::extractClusters	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	clusterTolerance,
		int	minClusterSize,
		int	maxClusterSize = std::numeric_limits< int >::max(),
		int *	biggestClusterIndex = 0
	)

Wrapper of the pcl::EuclideanClusterExtraction class.

Extract all clusters from a point cloud given a maximum cluster distance tolerance.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to process, if empty, all points in the cloud are processed.
clusterTolerance	the cluster distance tolerance (see pcl::EuclideanClusterExtraction).
minClusterSize	minimum size of the clusters to return (see pcl::EuclideanClusterExtraction).
maxClusterSize	maximum size of the clusters to return (see pcl::EuclideanClusterExtraction).
biggestClusterIndex	the index of the biggest cluster, if the clusters are empty, a negative index is set.

Returns:

the indices of each cluster found.

Definition at line 375 of file util3d.hpp.

template<typename PointT >

pcl::IndicesPtr rtabmap::util3d::extractNegativeIndices	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices
	)

Definition at line 429 of file util3d.hpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::multimap< int, pcl::PointXYZ > &	words1,
		const std::multimap< int, pcl::PointXYZ > &	words2,
		pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		pcl::PointCloud< pcl::PointXYZ > &	cloud2
	)

Definition at line 1539 of file util3d.cpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const cv::Mat &	depthImage1,
		const cv::Mat &	depthImage2,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		float	maxDepth,
		pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		pcl::PointCloud< pcl::PointXYZ > &	cloud2
	)

Definition at line 1632 of file util3d.cpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud2,
		pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		char	depthAxis
	)

Definition at line 1685 of file util3d.cpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud1,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud2,
		pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		char	depthAxis
	)

Definition at line 1694 of file util3d.cpp.

template<typename PointT >

void rtabmap::util3d::extractXYZCorrespondencesImpl	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const pcl::PointCloud< PointT > &	cloud1,
		const pcl::PointCloud< PointT > &	cloud2,
		pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		char	depthAxis
	)		[inline]

Definition at line 1663 of file util3d.cpp.

void rtabmap::util3d::extractXYZCorrespondencesRANSAC	(	const std::multimap< int, pcl::PointXYZ > &	words1,
		const std::multimap< int, pcl::PointXYZ > &	words2,
		pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		pcl::PointCloud< pcl::PointXYZ > &	cloud2
	)

Definition at line 1560 of file util3d.cpp.

void rtabmap::util3d::fillRegisteredDepthHoles	(	cv::Mat &	depth,
		bool	vertical,
		bool	horizontal,
		bool	fillDoubleHoles = false
	)

Definition at line 1411 of file util3d.cpp.

void rtabmap::util3d::filterMaxDepth	(	pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		float	maxDepth,
		char	depthAxis,
		bool	removeDuplicates
	)

Definition at line 1721 of file util3d.cpp.

void rtabmap::util3d::findCorrespondences	(	const std::multimap< int, cv::KeyPoint > &	wordsA,
		const std::multimap< int, cv::KeyPoint > &	wordsB,
		std::list< std::pair< cv::Point2f, cv::Point2f > > &	pairs
	)

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5

Definition at line 2311 of file util3d.cpp.

void rtabmap::util3d::findCorrespondences	(	const std::multimap< int, pcl::PointXYZ > &	words1,
		const std::multimap< int, pcl::PointXYZ > &	words2,
		pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		float	maxDepth,
		std::set< int > *	uniqueCorrespondences = 0
	)

Definition at line 735 of file util3d.cpp.

std::list<std::pair<cv::Point2f, cv::Point2f> > rtabmap::util3d::findCorrespondences	(	const std::multimap< int, cv::KeyPoint > &	words1,
		const std::multimap< int, cv::KeyPoint > &	words2
	)

Definition at line 701 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::generateKeypoints3DDepth	(	const std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	depth,
		float	fx,
		float	fy,
		float	cx,
		float	cy,
		const Transform &	transform
	)

Definition at line 269 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::generateKeypoints3DDisparity	(	const std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	disparity,
		float	fx,
		float	baseline,
		float	cx,
		float	cy,
		const Transform &	transform
	)

Definition at line 305 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::generateKeypoints3DStereo	(	const std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	leftImage,
		const cv::Mat &	rightImage,
		float	fx,
		float	baseline,
		float	cx,
		float	cy,
		const Transform &	transform = Transform::getIdentity(),
		int	flowWinSize = 9,
		int	flowMaxLevel = 4,
		int	flowIterations = 20,
		double	flowEps = 0.02
	)

Definition at line 336 of file util3d.cpp.

std::multimap< int, pcl::PointXYZ > rtabmap::util3d::generateWords3DMono	(	const std::multimap< int, cv::KeyPoint > &	kpts,
		const std::multimap< int, cv::KeyPoint > &	previousKpts,
		float	fx,
		float	fy,
		float	cx,
		float	cy,
		const Transform &	localTransform,
		Transform &	cameraTransform,
		int	pnpIterations = 100,
		float	pnpReprojError = 8.0f,
		int	pnpFlags = cv::ITERATIVE,
		float	ransacParam1 = 3.0f,
		float	ransacParam2 = 0.99f,
		const std::multimap< int, pcl::PointXYZ > &	refGuess3D = std::multimap<int, pcl::PointXYZ>(),
		double *	variance = 0
	)

Definition at line 411 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::get3DFASTKpts	(	const cv::Mat &	image,
		const cv::Mat &	imageDepth,
		float	constant,
		int	fastThreshold = 50,
		bool	fastNonmaxSuppression = true,
		float	maxDepth = 5.0f
	)

Definition at line 2436 of file util3d.cpp.

int rtabmap::util3d::getCorrespondencesCount	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_source,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_target,
		float	maxDistance
	)

Definition at line 2287 of file util3d.cpp.

float rtabmap::util3d::getDepth	(	const cv::Mat &	depthImage,
		float	x,
		float	y,
		bool	smoothing,
		float	maxZError = 0.02f
	)

Definition at line 773 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::getICPReadyCloud	(	const cv::Mat &	depth,
		float	fx,
		float	fy,
		float	cx,
		float	cy,
		int	decimation,
		double	maxDepth,
		float	voxel,
		int	samples,
		const Transform &	transform = Transform::getIdentity()
	)

Definition at line 2363 of file util3d.cpp.

Transform rtabmap::util3d::icp	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_source,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_target,
		double	maxCorrespondenceDistance,
		int	maximumIterations,
		bool *	hasConverged = 0,
		double *	variance = 0,
		int *	correspondences = 0
	)

Definition at line 1948 of file util3d.cpp.

Transform rtabmap::util3d::icp2D	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_source,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_target,
		double	maxCorrespondenceDistance,
		int	maximumIterations,
		bool *	hasConverged = 0,
		double *	variance = 0,
		int *	correspondences = 0
	)

Definition at line 2123 of file util3d.cpp.

Transform rtabmap::util3d::icpPointToPlane	(	const pcl::PointCloud< pcl::PointNormal >::ConstPtr &	cloud_source,
		const pcl::PointCloud< pcl::PointNormal >::ConstPtr &	cloud_target,
		double	maxCorrespondenceDistance,
		int	maximumIterations,
		bool *	hasConverged = 0,
		double *	variance = 0,
		int *	correspondences = 0
	)

Definition at line 2033 of file util3d.cpp.

cv::Mat rtabmap::util3d::laserScanFromPointCloud

(

const pcl::PointCloud< pcl::PointXYZ > &

cloud

)

Definition at line 1514 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::laserScanToPointCloud

(

const cv::Mat &

laserScan

)

Definition at line 1525 of file util3d.cpp.

template<typename PointT >

pcl::IndicesPtr rtabmap::util3d::normalFiltering	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		float	angleMax,
		const Eigen::Vector4f &	normal,
		float	radiusSearch,
		const Eigen::Vector4f &	viewpoint
	)

For convenience.

Definition at line 288 of file util3d.hpp.

template<typename PointT >

pcl::IndicesPtr rtabmap::util3d::normalFiltering	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	angleMax,
		const Eigen::Vector4f &	normal,
		float	radiusSearch,
		const Eigen::Vector4f &	viewpoint
	)

Given a normal and a maximum angle error, keep all points of the cloud respecting this normal.

The normals are computed using the radius search parameter (pcl::NormalEstimation class is used for this), then for each normal, the corresponding point is filtered if the angle (using pcl::getAngle3D()) with the normal specified by the user is larger than the maximum angle specified by the user.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to process, if empty, all points in the cloud are processed.
angleMax	the maximum angle.
normal	the normal to which each point's normal is compared.
radiusSearch	radius parameter used for normal estimation (see pcl::NormalEstimation).
viewpoint	from which viewpoint the normals should be estimated (see pcl::NormalEstimation).

Returns:

the indices of the points which respect the normal constraint.

Definition at line 300 of file util3d.hpp.

template<typename PointT >

void rtabmap::util3d::occupancy2DFromCloud3D	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		cv::Mat &	ground,
		cv::Mat &	obstacles,
		float	cellSize,
		float	groundNormalAngle,
		int	minClusterSize
	)

Definition at line 443 of file util3d.hpp.

void rtabmap::util3d::occupancy2DFromLaserScan	(	const cv::Mat &	scan,
		cv::Mat &	ground,
		cv::Mat &	obstacles,
		float	cellSize
	)

Definition at line 2501 of file util3d.cpp.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::util3d::passThrough	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const std::string &	axis,
		float	min,
		float	max
	)

Definition at line 78 of file util3d.hpp.

template<typename PointT >

void rtabmap::util3d::projectCloudOnXYPlane

(

typename pcl::PointCloud< PointT >::Ptr &

cloud

)

Definition at line 219 of file util3d.hpp.

pcl::PointXYZ rtabmap::util3d::projectDepthTo3D	(	const cv::Mat &	depthImage,
		float	x,
		float	y,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		bool	smoothing,
		float	maxZError = 0.02f
	)

Definition at line 851 of file util3d.cpp.

pcl::PointXYZ rtabmap::util3d::projectDisparityTo3D	(	const cv::Point2f &	pt,
		float	disparity,
		float	cx,
		float	cy,
		float	fx,
		float	baseline
	)

Definition at line 1288 of file util3d.cpp.

pcl::PointXYZ rtabmap::util3d::projectDisparityTo3D	(	const cv::Point2f &	pt,
		const cv::Mat &	disparity,
		float	cx,
		float	cy,
		float	fx,
		float	baseline
	)

Definition at line 1302 of file util3d.cpp.

template<typename PointT >

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

For convenience.

Definition at line 229 of file util3d.hpp.

template<typename PointT >

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Wrapper of the pcl::RadiusOutlierRemoval class.

Points in the cloud which have less than a minimum of neighbors in the specified radius are filtered.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to check, if empty, all points in the cloud are checked.
radiusSearch	the radius in meter.
minNeighborsInRadius	the minimum of neighbors to keep the point.

Returns:

the indices of the points satisfying the parameters.

Definition at line 239 of file util3d.hpp.

void rtabmap::util3d::rayTrace	(	const cv::Point2i &	start,
		const cv::Point2i &	end,
		cv::Mat &	grid,
		bool	stopOnObstacle
	)

Definition at line 2977 of file util3d.cpp.

cv::Mat rtabmap::util3d::registerDepth	(	const cv::Mat &	depth,
		const cv::Mat &	depthK,
		const cv::Mat &	colorK,
		const rtabmap::Transform &	transform
	)

Definition at line 1350 of file util3d.cpp.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::util3d::removeNaNFromPointCloud

(

const typename pcl::PointCloud< PointT >::Ptr &

cloud

)

Definition at line 99 of file util3d.hpp.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::util3d::removeNaNNormalsFromPointCloud

(

const typename pcl::PointCloud< PointT >::Ptr &

cloud

)

Definition at line 111 of file util3d.hpp.

void rtabmap::util3d::rgbdFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		cv::Mat &	rgb,
		cv::Mat &	depth,
		float &	fx,
		float &	fy,
		bool	bgrOrder = true,
		bool	depth16U = true
	)

Definition at line 149 of file util3d.cpp.

cv::Mat RTABMAP_EXP rtabmap::util3d::rgbFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		bool	bgrOrder = true
	)

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::util3d::sampling	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		int	samples
	)

Definition at line 63 of file util3d.hpp.

void rtabmap::util3d::savePCDWords	(	const std::string &	fileName,
		const std::multimap< int, pcl::PointXYZ > &	words,
		const Transform &	transform = Transform::getIdentity()
	)

Definition at line 3166 of file util3d.cpp.

template<typename PointT >

void rtabmap::util3d::segmentObstaclesFromGround	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		pcl::IndicesPtr &	ground,
		pcl::IndicesPtr &	obstacles,
		float	normalRadiusSearch,
		float	groundNormalAngle,
		int	minClusterSize,
		bool	segmentFlatObstacles
	)

Definition at line 143 of file util3d.hpp.

Transform rtabmap::util3d::transformFromXYZCorrespondences	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud1,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud2,
		double	inlierThreshold = 0.02,
		int	iterations = 100,
		bool	refineModel = false,
		double	refineModelSigma = 3.0,
		int	refineModelIterations = 10,
		std::vector< int > *	inliers = 0,
		double *	variance = 0
	)

Definition at line 1769 of file util3d.cpp.

template<typename PointT >

PointT rtabmap::util3d::transformPoint	(	const PointT &	pt,
		const Transform &	transform
	)

Definition at line 135 of file util3d.hpp.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::util3d::transformPointCloud	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const Transform &	transform
	)

Definition at line 123 of file util3d.hpp.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::util3d::voxelize	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		float	voxelSize
	)

Definition at line 47 of file util3d.hpp.