#include <rtabmap/utilite/ULogger.h>#include <pcl/filters/voxel_grid.h>#include <pcl/filters/random_sample.h>#include <pcl/filters/passthrough.h>#include <pcl/filters/filter.h>#include <pcl/filters/extract_indices.h>#include <pcl/common/transforms.h>#include <pcl/common/common.h>#include <pcl/search/kdtree.h>#include <pcl/features/normal_3d.h>#include <pcl/segmentation/extract_clusters.h>
Include dependency graph for util3d.hpp:
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Namespaces | |
| namespace | rtabmap |
| namespace | rtabmap::util3d |
Functions | |
| template<typename PointT > | |
| std::vector< pcl::IndicesPtr > | rtabmap::util3d::extractClusters (const typename pcl::PointCloud< PointT >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize, int *biggestClusterIndex) |
| template<typename PointT > | |
| std::vector< pcl::IndicesPtr > | rtabmap::util3d::extractClusters (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0) |
| Wrapper of the pcl::EuclideanClusterExtraction class. | |
| template<typename PointT > | |
| pcl::IndicesPtr | rtabmap::util3d::extractNegativeIndices (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices) |
| template<typename PointT > | |
| pcl::IndicesPtr | rtabmap::util3d::normalFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, float radiusSearch, const Eigen::Vector4f &viewpoint) |
| template<typename PointT > | |
| pcl::IndicesPtr | rtabmap::util3d::normalFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, float radiusSearch, const Eigen::Vector4f &viewpoint) |
| Given a normal and a maximum angle error, keep all points of the cloud respecting this normal. | |
| 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) |
| template<typename PointT > | |
| pcl::PointCloud< PointT >::Ptr | rtabmap::util3d::passThrough (const typename pcl::PointCloud< PointT >::Ptr &cloud, const std::string &axis, float min, float max) |
| template<typename PointT > | |
| void | rtabmap::util3d::projectCloudOnXYPlane (typename pcl::PointCloud< PointT >::Ptr &cloud) |
| template<typename PointT > | |
| pcl::IndicesPtr | rtabmap::util3d::radiusFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius) |
| template<typename PointT > | |
| pcl::IndicesPtr | rtabmap::util3d::radiusFiltering (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius) |
| Wrapper of the pcl::RadiusOutlierRemoval class. | |
| template<typename PointT > | |
| pcl::PointCloud< PointT >::Ptr | rtabmap::util3d::removeNaNFromPointCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud) |
| template<typename PointT > | |
| pcl::PointCloud< PointT >::Ptr | rtabmap::util3d::removeNaNNormalsFromPointCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud) |
| template<typename PointT > | |
| pcl::PointCloud< PointT >::Ptr | rtabmap::util3d::sampling (const typename pcl::PointCloud< PointT >::Ptr &cloud, int samples) |
| template<typename PointT > | |
| void | rtabmap::util3d::segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, float normalRadiusSearch, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles) |
| template<typename PointT > | |
| PointT | rtabmap::util3d::transformPoint (const PointT &pt, const Transform &transform) |
| template<typename PointT > | |
| pcl::PointCloud< PointT >::Ptr | rtabmap::util3d::transformPointCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud, const Transform &transform) |
| template<typename PointT > | |
| pcl::PointCloud< PointT >::Ptr | rtabmap::util3d::voxelize (const typename pcl::PointCloud< PointT >::Ptr &cloud, float voxelSize) |