#include <rtabmap/core/util3d.h>#include <rtabmap/core/util3d_transforms.h>#include <rtabmap/core/util3d_filtering.h>#include <rtabmap/core/util3d_surface.h>#include <rtabmap/core/util2d.h>#include <rtabmap/utilite/ULogger.h>#include <rtabmap/utilite/UMath.h>#include <rtabmap/utilite/UConversion.h>#include <rtabmap/utilite/UFile.h>#include <pcl/io/pcd_io.h>#include <pcl/io/ply_io.h>#include <pcl/common/transforms.h>#include <opencv2/imgproc/imgproc.hpp>#include <opencv2/imgproc/types_c.h>
Include dependency graph for util3d.cpp:
Go to the source code of this file.
Namespaces | |
| namespace | rtabmap |
| namespace | rtabmap::util3d |
Functions | |
| cv::Mat | rtabmap::util3d::bgrFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP | rtabmap::util3d::cloudFromDepth (const cv::Mat &imageDepth, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr | rtabmap::util3d::cloudFromDepth (const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation, float maxDepth, float minDepth, std::vector< int > *validIndices) |
| pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP | rtabmap::util3d::cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0) |
| 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, float maxDepth, float minDepth, std::vector< int > *validIndices) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP | rtabmap::util3d::cloudFromDisparity (const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0) |
| pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP | rtabmap::util3d::cloudFromDisparityRGB (const cv::Mat &imageRgb, const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP | rtabmap::util3d::cloudFromSensorData (const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >()) |
| pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP | rtabmap::util3d::cloudFromStereoImages (const cv::Mat &imageLeft, const cv::Mat &imageRight, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap ¶meters=ParametersMap()) |
| pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP | rtabmap::util3d::cloudRGBFromSensorData (const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >()) |
| pcl::IndicesPtr RTABMAP_EXP | rtabmap::util3d::concatenate (const std::vector< pcl::IndicesPtr > &indices) |
| Concatenate a vector of indices to a single vector. | |
| pcl::IndicesPtr RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds) |
| pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP | rtabmap::util3d::concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::depthFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, float &fx, float &fy, bool depth16U=true) |
| void RTABMAP_EXP | rtabmap::util3d::fillProjectedCloudHoles (cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder) |
| void RTABMAP_EXP | rtabmap::util3d::getMinMax3D (const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max) |
| void RTABMAP_EXP | rtabmap::util3d::getMinMax3D (const cv::Mat &laserScan, pcl::PointXYZ &min, pcl::PointXYZ &max) |
| bool RTABMAP_EXP | rtabmap::util3d::isFinite (const cv::Point3f &pt) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true) |
| pcl::PointCloud< pcl::PointXYZ > RTABMAP_EXP | rtabmap::util3d::laserScanFromDepthImage (const cv::Mat &depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform &localTransform=Transform::getIdentity()) |
| pcl::PointCloud< pcl::PointXYZ > RTABMAP_EXP | rtabmap::util3d::laserScanFromDepthImages (const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth) |
| LaserScan RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PCLPointCloud2 &cloud, bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true) |
| pcl::PointXYZ RTABMAP_EXP | rtabmap::util3d::laserScanToPoint (const LaserScan &laserScan, int index) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP | rtabmap::util3d::laserScanToPointCloud (const LaserScan &laserScan, const Transform &transform=Transform()) |
| pcl::PCLPointCloud2::Ptr RTABMAP_EXP | rtabmap::util3d::laserScanToPointCloud2 (const LaserScan &laserScan, const Transform &transform=Transform()) |
| pcl::PointCloud < pcl::PointXYZI >::Ptr RTABMAP_EXP | rtabmap::util3d::laserScanToPointCloudI (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f) |
| pcl::PointCloud < pcl::PointXYZINormal >::Ptr RTABMAP_EXP | rtabmap::util3d::laserScanToPointCloudINormal (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f) |
| pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP | rtabmap::util3d::laserScanToPointCloudNormal (const LaserScan &laserScan, const Transform &transform=Transform()) |
| pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP | rtabmap::util3d::laserScanToPointCloudRGB (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=255, unsigned char g=255, unsigned char b=255) |
| pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP | rtabmap::util3d::laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=255, unsigned char g=255, unsigned char b=255) |
| pcl::PointXYZI RTABMAP_EXP | rtabmap::util3d::laserScanToPointI (const LaserScan &laserScan, int index, float intensity) |
| pcl::PointXYZINormal RTABMAP_EXP | rtabmap::util3d::laserScanToPointINormal (const LaserScan &laserScan, int index, float intensity) |
| pcl::PointNormal RTABMAP_EXP | rtabmap::util3d::laserScanToPointNormal (const LaserScan &laserScan, int index) |
| pcl::PointXYZRGB RTABMAP_EXP | rtabmap::util3d::laserScanToPointRGB (const LaserScan &laserScan, int index, unsigned char r=255, unsigned char g=255, unsigned char b=255) |
| pcl::PointXYZRGBNormal RTABMAP_EXP | rtabmap::util3d::laserScanToPointRGBNormal (const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP | rtabmap::util3d::loadBINCloud (const std::string &fileName) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr | rtabmap::util3d::loadBINCloud (const std::string &fileName, int dim) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::loadBINScan (const std::string &fileName) |
| pcl::PointCloud< pcl::PointXYZ > ::Ptr | rtabmap::util3d::loadCloud (const std::string &path, const Transform &transform, int downsampleStep, float voxelSize) |
| LaserScan RTABMAP_EXP | rtabmap::util3d::loadScan (const std::string &path) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const pcl::PointCloud< pcl::PointXYZ >::Ptr laserScan, const rtabmap::Transform &cameraTransform) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const pcl::PCLPointCloud2::Ptr laserScan, const rtabmap::Transform &cameraTransform) |
| pcl::PointXYZ RTABMAP_EXP | rtabmap::util3d::projectDepthTo3D (const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float depthErrorRatio=0.02f) |
| Eigen::Vector3f RTABMAP_EXP | rtabmap::util3d::projectDepthTo3DRay (const cv::Size &imageSize, float x, float y, float cx, float cy, float fx, float fy) |
| cv::Point3f RTABMAP_EXP | rtabmap::util3d::projectDisparityTo3D (const cv::Point2f &pt, float disparity, const StereoCameraModel &model) |
| cv::Point3f RTABMAP_EXP | rtabmap::util3d::projectDisparityTo3D (const cv::Point2f &pt, const cv::Mat &disparity, const StereoCameraModel &model) |
| void RTABMAP_EXP | 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) |
| void RTABMAP_EXP | rtabmap::util3d::savePCDWords (const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity()) |
| void RTABMAP_EXP | rtabmap::util3d::savePCDWords (const std::string &fileName, const std::multimap< int, cv::Point3f > &words, const Transform &transform=Transform::getIdentity()) |