util3d_mapping.hpp File Reference

#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d.h>
#include <pcl/common/common.h>
#include <pcl/common/centroid.h>
#include <pcl/common/io.h>

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Namespaces
	rtabmap
	rtabmap::util3d

Functions
template<typename PointT >
void	rtabmap::util3d::occupancy2DFromCloud3D (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)
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, bool segmentFlatObstacles, float maxGroundHeight)
template<typename PointT >
void	rtabmap::util3d::occupancy2DFromGroundObstacles (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
template<typename PointT >
void	rtabmap::util3d::occupancy2DFromGroundObstacles (const typename pcl::PointCloud< PointT >::Ptr &groundCloud, const typename pcl::PointCloud< PointT >::Ptr &obstaclesCloud, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	rtabmap::util3d::projectCloudOnXYPlane (const typename pcl::PointCloud< PointT > &cloud)
template<typename PointT >
void	rtabmap::util3d::segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, const typename pcl::IndicesPtr &indices, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight, pcl::IndicesPtr *flatObstacles, const Eigen::Vector4f &viewPoint)
template<typename PointT >
void	rtabmap::util3d::segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight, pcl::IndicesPtr *flatObstacles, const Eigen::Vector4f &viewPoint)