#include <rtabmap/core/RtabmapExp.h>#include <pcl/PolygonMesh.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <pcl/TextureMesh.h>#include <pcl/pcl_base.h>#include <rtabmap/core/Transform.h>#include <rtabmap/core/CameraModel.h>#include <set>
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Namespaces | |
| namespace | rtabmap |
| namespace | rtabmap::util3d |
Functions | |
| void RTABMAP_EXP | rtabmap::util3d::adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const pcl::PointCloud< pcl::PointXYZ >::Ptr &rawCloud, const std::vector< int > &rawCameraIndices, pcl::PointCloud< pcl::PointNormal >::Ptr &cloud) |
| void RTABMAP_EXP | rtabmap::util3d::adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const pcl::PointCloud< pcl::PointXYZ >::Ptr &rawCloud, const std::vector< int > &rawCameraIndices, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud) |
| void RTABMAP_EXP | rtabmap::util3d::appendMesh (pcl::PointCloud< pcl::PointXYZRGBNormal > &cloudA, std::vector< pcl::Vertices > &polygonsA, const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloudB, const std::vector< pcl::Vertices > &polygonsB) |
| void RTABMAP_EXP | rtabmap::util3d::appendMesh (pcl::PointCloud< pcl::PointXYZRGB > &cloudA, std::vector< pcl::Vertices > &polygonsA, const pcl::PointCloud< pcl::PointXYZRGB > &cloudB, const std::vector< pcl::Vertices > &polygonsB) |
| pcl::PointCloud< pcl::Normal >::Ptr | rtabmap::util3d::computeFastOrganizedNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float maxDepthChangeFactor=0.02f, float normalSmoothingSize=10.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| pcl::PointCloud< pcl::Normal >::Ptr | rtabmap::util3d::computeFastOrganizedNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float maxDepthChangeFactor=0.02f, float normalSmoothingSize=10.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| pcl::PointCloud< pcl::Normal > ::Ptr RTABMAP_EXP | rtabmap::util3d::computeNormals (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int normalKSearch=20, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| pcl::PointCloud< pcl::Normal > ::Ptr RTABMAP_EXP | rtabmap::util3d::computeNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int normalKSearch=20, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| pcl::PointCloud< pcl::Normal > ::Ptr RTABMAP_EXP | rtabmap::util3d::computeNormals (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, int normalKSearch=20, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| pcl::PointCloud< pcl::Normal > ::Ptr RTABMAP_EXP | rtabmap::util3d::computeNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, int normalKSearch=20, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| pcl::PolygonMesh::Ptr RTABMAP_EXP | 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=true) |
| void RTABMAP_EXP | rtabmap::util3d::createPolygonIndexes (const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons) |
| Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons. | |
| pcl::TextureMesh::Ptr RTABMAP_EXP | rtabmap::util3d::createTextureMesh (const pcl::PolygonMesh::Ptr &mesh, const std::map< int, Transform > &poses, const std::map< int, CameraModel > &cameraModels, const std::map< int, cv::Mat > &images, const std::string &tmpDirectory=".", int kNormalSearch=20) |
| std::vector< pcl::Vertices > RTABMAP_EXP | rtabmap::util3d::filterCloseVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr cloud, const std::vector< pcl::Vertices > &polygons, float radius, float angle, bool keepLatestInRadius) |
| std::vector< pcl::Vertices > RTABMAP_EXP | rtabmap::util3d::filterInvalidPolygons (const std::vector< pcl::Vertices > &polygons) |
| std::map< int, int > RTABMAP_EXP | rtabmap::util3d::filterNotUsedVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< pcl::PointXYZRGBNormal > &outputCloud, std::vector< pcl::Vertices > &outputPolygons) |
| std::map< int, int > RTABMAP_EXP | rtabmap::util3d::filterNotUsedVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< pcl::PointXYZRGB > &outputCloud, std::vector< pcl::Vertices > &outputPolygons) |
| pcl::PolygonMesh::Ptr RTABMAP_EXP | rtabmap::util3d::meshDecimation (const pcl::PolygonMesh::Ptr &mesh, float factor) |
| pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP | rtabmap::util3d::mls (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float searchRadius=0.0f, int polygonialOrder=2, int upsamplingMethod=0, float upsamplingRadius=0.0f, float upsamplingStep=0.0f, int pointDensity=0, float dilationVoxelSize=1.0f, int dilationIterations=0) |
| pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP | rtabmap::util3d::mls (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float searchRadius=0.0f, int polygonialOrder=2, int upsamplingMethod=0, float upsamplingRadius=0.0f, float upsamplingStep=0.0f, int pointDensity=0, float dilationVoxelSize=1.0f, int dilationIterations=0) |
| template<typename pointT > | |
| std::vector< pcl::Vertices > | rtabmap::util3d::normalizePolygonsSide (const pcl::PointCloud< pointT > &cloud, const std::vector< pcl::Vertices > &polygons, const pcl::PointXYZ &viewPoint=pcl::PointXYZ(0, 0, 0)) |
| std::vector< pcl::Vertices > RTABMAP_EXP | rtabmap::util3d::organizedFastMesh (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, double angleTolerance=M_PI/16, bool quad=true, int trianglePixelSize=2, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0)) |
| std::vector< pcl::Vertices > RTABMAP_EXP | rtabmap::util3d::organizedFastMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, double angleTolerance=M_PI/16, bool quad=true, int trianglePixelSize=2, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0)) |