#include "rtabmap/core/util3d_mapping.h"#include <rtabmap/core/util3d_transforms.h>#include <rtabmap/core/util3d_filtering.h>#include <rtabmap/core/util3d.h>#include <rtabmap/utilite/ULogger.h>#include <rtabmap/utilite/UTimer.h>#include <rtabmap/utilite/UStl.h>#include <rtabmap/utilite/UConversion.h>#include <rtabmap/utilite/UMath.h>#include <pcl/common/common.h>#include <pcl/common/centroid.h>#include <pcl/common/io.h>
Include dependency graph for util3d_mapping.cpp:
Go to the source code of this file.
Namespaces | |
| namespace | rtabmap |
| namespace | rtabmap::util3d |
Functions | |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::convertImage8U2Map (const cv::Mat &map8U, bool pgmFormat=false) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::convertMap2Image8U (const cv::Mat &map8S, bool pgmFormat=false) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::create2DMap (const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &scans, const std::map< int, cv::Point3f > &viewpoints, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f) |
| 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, float scanMaxRange) |
| cv::Mat | rtabmap::util3d::create2DMap (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, const std::map< int, cv::Point3f > &viewpoints, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize, float scanMaxRange) |
| cv::Mat RTABMAP_EXP | 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=0.0f, bool erode=false, float footprintRadius=0.0f) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::erodeMap (const cv::Mat &map) |
| void | rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat &scan, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled, float scanMaxRange) |
| void RTABMAP_EXP | rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat &scanHit, const cv::Mat &scanNoHit, const cv::Point3f &viewpoint, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f) |
| void | rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat &scan, const cv::Point3f &viewpoint, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled, float scanMaxRange) |
| void RTABMAP_EXP | rtabmap::util3d::rayTrace (const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle) |