Namespaces | Functions
util3d.h File Reference
#include "rtabmap/core/RtabmapExp.h"
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
#include <rtabmap/core/ProgressState.h>
#include <map>
#include <list>
#include "rtabmap/core/impl/util3d.hpp"
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Namespaces

 rtabmap
 
 rtabmap::util3d
 

Functions

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::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::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 &parameters=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. More...
 
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::concatenate (const pcl::IndicesPtr &indicesA, const pcl::IndicesPtr &indicesB)
 Concatenate two vector of indices to a single vector. More...
 
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)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan 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)
 
template<typename PointCloud2T >
LaserScan rtabmap::util3d::laserScanFromPointCloud (const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 
LaserScan RTABMAP_EXP rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const pcl::IndicesPtr &indices, 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=100, unsigned char g=100, unsigned char b=100)
 
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_EXP rtabmap::util3d::laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
 
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=100, unsigned char g=100, unsigned char b=100)
 
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)
 
cv::Mat RTABMAP_EXP rtabmap::util3d::loadBINScan (const std::string &fileName)
 
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)
 
std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_EXP rtabmap::util3d::projectCloudToCameras (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)
 
std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_EXP rtabmap::util3d::projectCloudToCameras (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)
 
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)
 
cv::Mat RTABMAP_EXP rtabmap::util3d::rgbFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)
 
 rtabmap::util3d::RTABMAP_DEPRECATED (pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP cloudFromDepth(const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0), "Use cloudFromDepth with CameraModel interface.")
 
 rtabmap::util3d::RTABMAP_DEPRECATED (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, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0), "Use cloudFromDepthRGB with CameraModel interface.")
 
 rtabmap::util3d::RTABMAP_DEPRECATED (pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP loadBINCloud(const std::string &fileName, int dim), "Use interface without dim argument.")
 
 rtabmap::util3d::RTABMAP_DEPRECATED (pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP loadCloud(const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f), "Use loadScan() instead.")
 
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())
 


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:38:59