rtabmap::util3d Namespace Reference

Functions
void RTABMAP_EXP	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	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)
std::multimap< int, cv::KeyPoint > RTABMAP_EXP	aggregate (const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
void RTABMAP_EXP	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	appendMesh (pcl::PointCloud< pcl::PointXYZRGB > &cloudA, std::vector< pcl::Vertices > &polygonsA, const pcl::PointCloud< pcl::PointXYZRGB > &cloudB, const std::vector< pcl::Vertices > &polygonsB)
cv::Mat	bgrFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	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::PointXYZ > ::Ptr	cloudFromDepth (const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation, float maxDepth, float minDepth, std::vector< int > *validIndices)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	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::PointXYZRGB >::Ptr	cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation, float maxDepth, float minDepth, std::vector< int > *validIndices)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	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	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	cloudFromSensorData (const SensorData &sensorData, 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	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	cloudRGBFromSensorData (const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &parameters=ParametersMap())
pcl::PointCloud< pcl::Normal >::Ptr	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	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	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	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	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	computeNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, int normalKSearch=20, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
std::vector< float >	computeReprojErrors (std::vector< cv::Point3f > opoints, std::vector< cv::Point2f > ipoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, const cv::Mat &rvec, const cv::Mat &tvec, float reprojErrorThreshold, std::vector< int > &inliers)
void RTABMAP_EXP	computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut)
void RTABMAP_EXP	computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut)
pcl::IndicesPtr RTABMAP_EXP	concatenate (const std::vector< pcl::IndicesPtr > &indices)
	Concatenate a vector of indices to a single vector.
pcl::IndicesPtr RTABMAP_EXP	concatenate (const pcl::IndicesPtr &indicesA, const pcl::IndicesPtr &indicesB)
	Concatenate two vector of indices to a single vector.
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds)
pcl::TextureMesh::Ptr RTABMAP_EXP	concatenateTextureMeshes (const std::list< pcl::TextureMesh::Ptr > &meshes)
cv::Mat RTABMAP_EXP	convertMap2Image8U (const cv::Mat &map8S)
int RTABMAP_EXP	countUniquePairs (const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB)
cv::Mat RTABMAP_EXP	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=0.0f, float scanMaxRange=0.0f)
cv::Mat RTABMAP_EXP	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)
pcl::PolygonMesh::Ptr RTABMAP_EXP	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	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	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)
cv::Mat RTABMAP_EXP	depthFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, float &fx, float &fy, bool depth16U=true)
cv::Mat RTABMAP_EXP	downsample (const cv::Mat &cloud, int step)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	downsample (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int step)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	downsample (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int step)
Transform RTABMAP_EXP	estimateMotion3DTo2D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const CameraModel &cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), double *varianceOut=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0)
Transform RTABMAP_EXP	estimateMotion3DTo3D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::Point3f > &words3B, int minInliers=10, double inliersDistance=0.1, int iterations=100, int refineIterations=5, double *varianceOut=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0)
std::vector< pcl::IndicesPtr > RTABMAP_EXP	extractClusters (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
std::vector< pcl::IndicesPtr > RTABMAP_EXP	extractClusters (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
std::vector< pcl::IndicesPtr > RTABMAP_EXP	extractClusters (const pcl::PointCloud< pcl::PointXYZ >::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.
std::vector< pcl::IndicesPtr > RTABMAP_EXP	extractClusters (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
std::vector< pcl::IndicesPtr > RTABMAP_EXP	extractClusters (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
pcl::IndicesPtr RTABMAP_EXP	extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
pcl::IndicesPtr RTABMAP_EXP	extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
pcl::IndicesPtr RTABMAP_EXP	extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
pcl::IndicesPtr	extractPlane (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
pcl::IndicesPtr	extractPlane (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
void RTABMAP_EXP	extractXYZCorrespondences (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
void RTABMAP_EXP	extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const cv::Mat &depthImage1, const cv::Mat &depthImage2, float cx, float cy, float fx, float fy, float maxDepth, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
void RTABMAP_EXP	extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis)
void RTABMAP_EXP	extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZRGB > &cloud1, const pcl::PointCloud< pcl::PointXYZRGB > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis)
template<typename PointT >
void	extractXYZCorrespondencesImpl (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< PointT > &cloud1, const pcl::PointCloud< PointT > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, char depthAxis)
void RTABMAP_EXP	extractXYZCorrespondencesRANSAC (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
void RTABMAP_EXP	fillProjectedCloudHoles (cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder)
std::vector< pcl::Vertices > RTABMAP_EXP	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	filterInvalidPolygons (const std::vector< pcl::Vertices > &polygons)
void RTABMAP_EXP	filterMaxDepth (pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates)
std::map< int, int > RTABMAP_EXP	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	filterNotUsedVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< pcl::PointXYZRGB > &outputCloud, std::vector< pcl::Vertices > &outputPolygons)
void RTABMAP_EXP	findCorrespondences (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< cv::Point2f, cv::Point2f > > &pairs)
void RTABMAP_EXP	findCorrespondences (const std::multimap< int, cv::Point3f > &words1, const std::multimap< int, cv::Point3f > &words2, std::vector< cv::Point3f > &inliers1, std::vector< cv::Point3f > &inliers2, float maxDepth, std::vector< int > *uniqueCorrespondences=0)
void RTABMAP_EXP	findCorrespondences (const std::map< int, cv::Point3f > &words1, const std::map< int, cv::Point3f > &words2, std::vector< cv::Point3f > &inliers1, std::vector< cv::Point3f > &inliers2, float maxDepth, std::vector< int > *correspondences=0)
pcl::IndicesPtr RTABMAP_EXP	frustumFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	frustumFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	frustumFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
std::vector< cv::Point3f > RTABMAP_EXP	generateKeypoints3DDepth (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const CameraModel &cameraModel, float minDepth=0, float maxDepth=0)
std::vector< cv::Point3f > RTABMAP_EXP	generateKeypoints3DDepth (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float minDepth=0, float maxDepth=0)
std::vector< cv::Point3f > RTABMAP_EXP	generateKeypoints3DDisparity (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)
std::vector< cv::Point3f > RTABMAP_EXP	generateKeypoints3DStereo (const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const StereoCameraModel &model, const std::vector< unsigned char > &mask=std::vector< unsigned char >(), float minDepth=0, float maxDepth=0)
std::map< int, cv::Point3f > RTABMAP_EXP	generateWords3DMono (const std::map< int, cv::KeyPoint > &kpts, const std::map< int, cv::KeyPoint > &previousKpts, const CameraModel &cameraModel, Transform &cameraTransform, int pnpIterations=100, float pnpReprojError=8.0f, int pnpFlags=0, int pnpRefineIterations=1, float ransacParam1=3.0f, float ransacParam2=0.99f, const std::map< int, cv::Point3f > &refGuess3D=std::map< int, cv::Point3f >(), double *variance=0)
int RTABMAP_EXP	getCorrespondencesCount (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance)
Transform RTABMAP_EXP	icp (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
Transform RTABMAP_EXP	icpPointToPlane (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false)
bool RTABMAP_EXP	isFinite (const cv::Point3f &pt)
cv::Mat RTABMAP_EXP	laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform())
pcl::PointCloud< pcl::PointXYZ > RTABMAP_EXP	laserScanFromDepthImage (const cv::Mat &depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform &localTransform=Transform::getIdentity())
cv::Mat RTABMAP_EXP	laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform())
cv::Mat RTABMAP_EXP	laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform())
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	laserScanToPointCloud (const cv::Mat &laserScan, const Transform &transform=Transform())
pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP	laserScanToPointCloudNormal (const cv::Mat &laserScan, const Transform &transform=Transform())
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	loadBINCloud (const std::string &fileName, int dim)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	loadCloud (const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)
cv::Mat RTABMAP_EXP	loadScan (const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f, int normalsK=0)
pcl::PolygonMesh::Ptr RTABMAP_EXP	meshDecimation (const pcl::PolygonMesh::Ptr &mesh, float factor)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	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	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)
pcl::IndicesPtr RTABMAP_EXP	normalFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
pcl::IndicesPtr RTABMAP_EXP	normalFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
pcl::IndicesPtr RTABMAP_EXP	normalFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
	Given a normal and a maximum angle error, keep all points of the cloud respecting this normal.
pcl::IndicesPtr RTABMAP_EXP	normalFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
pcl::IndicesPtr RTABMAP_EXP	normalFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
template<typename pointT >
std::vector< pcl::Vertices >	normalizePolygonsSide (const pcl::PointCloud< pointT > &cloud, const std::vector< pcl::Vertices > &polygons, const pcl::PointXYZ &viewPoint=pcl::PointXYZ(0, 0, 0))
template<typename PointT >
void	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	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	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	occupancy2DFromGroundObstacles (const typename pcl::PointCloud< PointT >::Ptr &groundCloud, const typename pcl::PointCloud< PointT >::Ptr &obstaclesCloud, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
void RTABMAP_EXP	occupancy2DFromLaserScan (const cv::Mat &scan, cv::Mat &ground, cv::Mat &obstacles, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
std::vector< pcl::Vertices > RTABMAP_EXP	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	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))
pcl::IndicesPtr RTABMAP_EXP	passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
pcl::IndicesPtr RTABMAP_EXP	passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
template<typename PointT >
pcl::PointCloud< PointT >::Ptr	projectCloudOnXYPlane (const typename pcl::PointCloud< PointT > &cloud)
cv::Mat RTABMAP_EXP	projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform)
cv::Mat RTABMAP_EXP	projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const pcl::PointCloud< pcl::PointXYZ >::Ptr laserScan, const rtabmap::Transform &cameraTransform)
pcl::PointXYZ RTABMAP_EXP	projectDepthTo3D (const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float maxZError=0.02f)
cv::Point3f RTABMAP_EXP	projectDisparityTo3D (const cv::Point2f &pt, float disparity, const StereoCameraModel &model)
cv::Point3f RTABMAP_EXP	projectDisparityTo3D (const cv::Point2f &pt, const cv::Mat &disparity, const StereoCameraModel &model)
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
	Wrapper of the pcl::RadiusOutlierRemoval class.
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP	radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	randomSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	randomSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int samples)
void RTABMAP_EXP	rayTrace (const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)
pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP	removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud)
void RTABMAP_EXP	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	rgbFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)
	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_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.")
void RTABMAP_EXP	savePCDWords (const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())
void RTABMAP_EXP	savePCDWords (const std::string &fileName, const std::multimap< int, cv::Point3f > &words, const Transform &transform=Transform::getIdentity())
template<typename PointT >
void	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	segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles=false, float maxGroundHeight=0.0f, pcl::IndicesPtr *flatObstacles=0, const Eigen::Vector4f &viewPoint=Eigen::Vector4f(0, 0, 100, 0))
template<typename PointT >
void	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)
void RTABMAP_EXP	solvePnPRansac (const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)
pcl::IndicesPtr RTABMAP_EXP	subtractAdaptiveFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &substractCloud, const pcl::IndicesPtr &substractIndices, float radiusSearchRatio=0.01, int minNeighborsInRadius=1, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
pcl::IndicesPtr RTABMAP_EXP	subtractAdaptiveFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &substractCloud, const pcl::IndicesPtr &substractIndices, float radiusSearchRatio=0.01, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &substractCloud, float radiusSearch, int minNeighborsInRadius=1)
pcl::IndicesPtr RTABMAP_EXP	subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &substractCloud, const pcl::IndicesPtr &substractIndices, float radiusSearch, int minNeighborsInRadius=1)
pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP	subtractFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointNormal >::Ptr &substractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
pcl::IndicesPtr RTABMAP_EXP	subtractFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointNormal >::Ptr &substractCloud, const pcl::IndicesPtr &substractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &substractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
pcl::IndicesPtr RTABMAP_EXP	subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &substractCloud, const pcl::IndicesPtr &substractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
Transform RTABMAP_EXP	transformFromXYZCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, double *variance=0)
Transform RTABMAP_EXP	transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
cv::Point3f RTABMAP_EXP	transformPoint (const cv::Point3f &pt, const Transform &transform)
pcl::PointXYZ RTABMAP_EXP	transformPoint (const pcl::PointXYZ &pt, const Transform &transform)
pcl::PointXYZRGB RTABMAP_EXP	transformPoint (const pcl::PointXYZRGB &pt, const Transform &transform)
pcl::PointNormal RTABMAP_EXP	transformPoint (const pcl::PointNormal &point, const Transform &transform)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	transformPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &transform)
pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP	transformPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Transform &transform)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Transform &transform)
pcl::PointCloud< pcl::PointXYZ > ::Ptr	uniformSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr	uniformSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr	uniformSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud< pcl::PointXYZ > ::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
pcl::PointCloud < pcl::PointNormal >::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float voxelSize)
pcl::PointCloud < pcl::PointXYZRGB >::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
pcl::PointCloud < pcl::PointXYZRGBNormal > ::Ptr RTABMAP_EXP	voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)

---

Function Documentation

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
	)

std::multimap< int, cv::KeyPoint > rtabmap::util3d::aggregate	(	const std::list< int > &	wordIds,
		const std::vector< cv::KeyPoint > &	keypoints
	)

Definition at line 481 of file util3d_features.cpp.

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
	)

cv::Mat rtabmap::util3d::bgrFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		bool	bgrOrder
	)

Definition at line 48 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr 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
	)

Definition at line 255 of file util3d.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr rtabmap::util3d::cloudFromDepth	(	const cv::Mat &	imageDepth,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		int	decimation,
		float	maxDepth,
		float	minDepth,
		std::vector< int > *	validIndices
	)

Definition at line 242 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr 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
	)

Definition at line 364 of file util3d.cpp.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::util3d::cloudFromDepthRGB	(	const cv::Mat &	imageRgb,
		const cv::Mat &	imageDepth,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		int	decimation,
		float	maxDepth,
		float	minDepth,
		std::vector< int > *	validIndices
	)

Definition at line 350 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr 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
	)

Definition at line 476 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr 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
	)

Definition at line 561 of file util3d.cpp.

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 &	parameters = ParametersMap()
	)

Definition at line 696 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr 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()
	)

Definition at line 645 of file util3d.cpp.

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 &	parameters = ParametersMap()
	)

Create an RGB cloud from the images contained in SensorData. If there is only one camera, the returned cloud is organized. Otherwise, all NaN points are removed and the cloud will be dense.

Parameters:

sensorData,the	sensor data.
decimation,images	are decimated by this factor before projecting points to 3D. The factor should be a factor of the image width and height.
maxDepth,maximum	depth of the projected points (farther points are set to null in case of an organized cloud).
minDepth,minimum	depth of the projected points (closer points are set to null in case of an organized cloud).
validIndices,the	indices of valid points in the cloud

Returns:

a RGB cloud.

Definition at line 787 of file util3d.cpp.

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)
	)

std::vector<float> rtabmap::util3d::computeReprojErrors	(	std::vector< cv::Point3f >	opoints,
		std::vector< cv::Point2f >	ipoints,
		const cv::Mat &	cameraMatrix,
		const cv::Mat &	distCoeffs,
		const cv::Mat &	rvec,
		const cv::Mat &	tvec,
		float	reprojErrorThreshold,
		std::vector< int > &	inliers
	)

Definition at line 281 of file util3d_motion_estimation.cpp.

void rtabmap::util3d::computeVarianceAndCorrespondences	(	const pcl::PointCloud< pcl::PointNormal >::ConstPtr &	cloudA,
		const pcl::PointCloud< pcl::PointNormal >::ConstPtr &	cloudB,
		double	maxCorrespondenceDistance,
		double &	variance,
		int &	correspondencesOut
	)

Definition at line 236 of file util3d_registration.cpp.

void rtabmap::util3d::computeVarianceAndCorrespondences	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloudA,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloudB,
		double	maxCorrespondenceDistance,
		double &	variance,
		int &	correspondencesOut
	)

Definition at line 269 of file util3d_registration.cpp.

pcl::IndicesPtr rtabmap::util3d::concatenate

(

const std::vector< pcl::IndicesPtr > &

indices

)

Concatenate a vector of indices to a single vector.

Parameters:

indices

the vector of indices to concatenate.

Note:

This methods doesn't check if indices exist in the two set and doesn't sort the output indices. If we are not sure if the the two set of indices set are disjoint and/or you need sorted indices, the use of mergeIndices().

Returns:

the indices concatenated.

Definition at line 1392 of file util3d.cpp.

pcl::IndicesPtr rtabmap::util3d::concatenate	(	const pcl::IndicesPtr &	indicesA,
		const pcl::IndicesPtr &	indicesB
	)

Concatenate two vector of indices to a single vector.

Parameters:

indicesA	the first vector of indices to concatenate.
indicesB	the second vector of indices to concatenate.

Note:

This methods doesn't check if indices exist in the two set and doesn't sort the output indices. If we are not sure if the the two set of indices set are disjoint and/or you need sorted indices, the use of mergeIndices().

Returns:

the indices concatenated.

Definition at line 1412 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::concatenateClouds

(

const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &

clouds

)

Definition at line 1313 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::concatenateClouds

(

const std::list< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &

clouds

)

Definition at line 1323 of file util3d.cpp.

pcl::TextureMesh::Ptr rtabmap::util3d::concatenateTextureMeshes

(

const std::list< pcl::TextureMesh::Ptr > &

meshes

)

Definition at line 1333 of file util3d.cpp.

cv::Mat rtabmap::util3d::convertMap2Image8U

(

const cv::Mat &

map8S

)

Definition at line 634 of file util3d_mapping.cpp.

int rtabmap::util3d::countUniquePairs	(	const std::multimap< int, pcl::PointXYZ > &	wordsA,
		const std::multimap< int, pcl::PointXYZ > &	wordsB
	)

Definition at line 208 of file util3d_correspondences.cpp.

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
	)

Create 2d Occupancy grid (CV_8S) -1 = unknown 0 = empty space 100 = obstacle

Parameters:

poses
scans
cellSize	m
unknownSpaceFilled	if false no fill, otherwise a virtual laser sweeps the unknown space from each pose (stopping on detected obstacle)
xMin
yMin
minMapSize	minimum map size in meters
scanMaxRange	laser scan maximum range, would be set if unknownSpaceFilled=true

Definition at line 395 of file util3d_mapping.cpp.

cv::Mat rtabmap::util3d::create2DMapFromOccupancyLocalMaps	(	const std::map< int, Transform > &	posesIn,
		const std::map< int, std::pair< cv::Mat, cv::Mat > > &	occupancy,
		float	cellSize,
		float &	xMin,
		float &	yMin,
		float	minMapSize,
		bool	erode
	)

Create 2d Occupancy grid (CV_8S) from 2d occupancy -1 = unknown 0 = empty space 100 = obstacle

Parameters:

poses
occupancy	<empty, occupied>
cellSize	m
xMin
yMin
minMapSize	minimum width (m)
erode

Definition at line 125 of file util3d_mapping.cpp.

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.

Parameters:

polygons	the polygons to be indexed.
cloudSize	the size of the cloud of the corresponding mesh to polygons (must be at least as high as the highest vertex value contained in the polygons).
neighborPolygons	returned index from polygons to neighbor polygons (index size = polygons size).
vertexPolygons	returned index from vertices to polygons (index size = cloudSize).

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
	)

cv::Mat rtabmap::util3d::depthFromCloud	(	const pcl::PointCloud< pcl::PointXYZRGBA > &	cloud,
		float &	fx,
		float &	fy,
		bool	depth16U = true
	)

Definition at line 74 of file util3d.cpp.

cv::Mat rtabmap::util3d::downsample	(	const cv::Mat &	cloud,
		int	step
	)

Definition at line 67 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::downsample	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		int	step
	)

Definition at line 91 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::downsample	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		int	step
	)

Definition at line 114 of file util3d_filtering.cpp.

Transform rtabmap::util3d::estimateMotion3DTo2D	(	const std::map< int, cv::Point3f > &	words3A,
		const std::map< int, cv::KeyPoint > &	words2B,
		const CameraModel &	cameraModel,
		int	minInliers = 10,
		int	iterations = 100,
		double	reprojError = 5.,
		int	flagsPnP = 0,
		int	pnpRefineIterations = 1,
		const Transform &	guess = Transform::getIdentity(),
		const std::map< int, cv::Point3f > &	words3B = std::map<int, cv::Point3f>(),
		double *	varianceOut = 0,
		std::vector< int > *	matchesOut = 0,
		std::vector< int > *	inliersOut = 0
	)

Definition at line 50 of file util3d_motion_estimation.cpp.

Transform rtabmap::util3d::estimateMotion3DTo3D	(	const std::map< int, cv::Point3f > &	words3A,
		const std::map< int, cv::Point3f > &	words3B,
		int	minInliers = 10,
		double	inliersDistance = 0.1,
		int	iterations = 100,
		int	refineIterations = 5,
		double *	varianceOut = 0,
		std::vector< int > *	matchesOut = 0,
		std::vector< int > *	inliersOut = 0
	)

Definition at line 201 of file util3d_motion_estimation.cpp.

std::vector< pcl::IndicesPtr > rtabmap::util3d::extractClusters	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		float	clusterTolerance,
		int	minClusterSize,
		int	maxClusterSize = std::numeric_limits<int>::max(),
		int *	biggestClusterIndex = 0
	)

For convenience.

Definition at line 1462 of file util3d_filtering.cpp.

std::vector< pcl::IndicesPtr > rtabmap::util3d::extractClusters	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	clusterTolerance,
		int	minClusterSize,
		int	maxClusterSize = std::numeric_limits<int>::max(),
		int *	biggestClusterIndex = 0
	)

Definition at line 1472 of file util3d_filtering.cpp.

std::vector< pcl::IndicesPtr > rtabmap::util3d::extractClusters	(	const pcl::PointCloud< pcl::PointXYZ >::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.

Extract all clusters from a point cloud given a maximum cluster distance tolerance.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to process, if empty, all points in the cloud are processed.
clusterTolerance	the cluster distance tolerance (see pcl::EuclideanClusterExtraction).
minClusterSize	minimum size of the clusters to return (see pcl::EuclideanClusterExtraction).
maxClusterSize	maximum size of the clusters to return (see pcl::EuclideanClusterExtraction).
biggestClusterIndex	the index of the biggest cluster, if the clusters are empty, a negative index is set.

Returns:

the indices of each cluster found.

Definition at line 1483 of file util3d_filtering.cpp.

std::vector< pcl::IndicesPtr > rtabmap::util3d::extractClusters	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	clusterTolerance,
		int	minClusterSize,
		int	maxClusterSize = std::numeric_limits<int>::max(),
		int *	biggestClusterIndex = 0
	)

Definition at line 1535 of file util3d_filtering.cpp.

std::vector< pcl::IndicesPtr > rtabmap::util3d::extractClusters	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	clusterTolerance,
		int	minClusterSize,
		int	maxClusterSize = std::numeric_limits<int>::max(),
		int *	biggestClusterIndex = 0
	)

Definition at line 1587 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::extractIndices	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	negative
	)

Definition at line 1640 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::extractIndices	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	negative
	)

Definition at line 1653 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::extractIndices	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	negative
	)

Definition at line 1666 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::extractIndices	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	negative,
		bool	keepOrganized
	)

Definition at line 1680 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::extractIndices	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	negative,
		bool	keepOrganized
	)

Definition at line 1695 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::extractIndices	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		bool	negative,
		bool	keepOrganized
	)

Definition at line 1710 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::extractPlane	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		float	distanceThreshold,
		int	maxIterations = 100,
		pcl::ModelCoefficients *	coefficientsOut = 0
	)

Definition at line 1726 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::extractPlane	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	distanceThreshold,
		int	maxIterations = 100,
		pcl::ModelCoefficients *	coefficientsOut = 0
	)

Definition at line 1736 of file util3d_filtering.cpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::multimap< int, pcl::PointXYZ > &	words1,
		const std::multimap< int, pcl::PointXYZ > &	words2,
		pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		pcl::PointCloud< pcl::PointXYZ > &	cloud2
	)

Definition at line 43 of file util3d_correspondences.cpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const cv::Mat &	depthImage1,
		const cv::Mat &	depthImage2,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		float	maxDepth,
		pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		pcl::PointCloud< pcl::PointXYZ > &	cloud2
	)

Definition at line 136 of file util3d_correspondences.cpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud2,
		pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		char	depthAxis
	)

Definition at line 189 of file util3d_correspondences.cpp.

void rtabmap::util3d::extractXYZCorrespondences	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud1,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud2,
		pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		char	depthAxis
	)

Definition at line 198 of file util3d_correspondences.cpp.

template<typename PointT >

void rtabmap::util3d::extractXYZCorrespondencesImpl	(	const std::list< std::pair< cv::Point2f, cv::Point2f > > &	correspondences,
		const pcl::PointCloud< PointT > &	cloud1,
		const pcl::PointCloud< PointT > &	cloud2,
		pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		char	depthAxis
	)		[inline]

Definition at line 167 of file util3d_correspondences.cpp.

void rtabmap::util3d::extractXYZCorrespondencesRANSAC	(	const std::multimap< int, pcl::PointXYZ > &	words1,
		const std::multimap< int, pcl::PointXYZ > &	words2,
		pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		pcl::PointCloud< pcl::PointXYZ > &	cloud2
	)

Definition at line 64 of file util3d_correspondences.cpp.

void rtabmap::util3d::fillProjectedCloudHoles	(	cv::Mat &	depthRegistered,
		bool	verticalDirection,
		bool	fillToBorder
	)

Definition at line 1225 of file util3d.cpp.

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

)

void rtabmap::util3d::filterMaxDepth	(	pcl::PointCloud< pcl::PointXYZ > &	inliers1,
		pcl::PointCloud< pcl::PointXYZ > &	inliers2,
		float	maxDepth,
		char	depthAxis,
		bool	removeDuplicates
	)

Definition at line 225 of file util3d_correspondences.cpp.

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
	)

void rtabmap::util3d::findCorrespondences	(	const std::multimap< int, cv::KeyPoint > &	wordsA,
		const std::multimap< int, cv::KeyPoint > &	wordsB,
		std::list< std::pair< cv::Point2f, cv::Point2f > > &	pairs
	)

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5

Definition at line 299 of file util3d_correspondences.cpp.

void rtabmap::util3d::findCorrespondences	(	const std::multimap< int, cv::Point3f > &	words1,
		const std::multimap< int, cv::Point3f > &	words2,
		std::vector< cv::Point3f > &	inliers1,
		std::vector< cv::Point3f > &	inliers2,
		float	maxDepth,
		std::vector< int > *	uniqueCorrespondences = 0
	)

Definition at line 317 of file util3d_correspondences.cpp.

void rtabmap::util3d::findCorrespondences	(	const std::map< int, cv::Point3f > &	words1,
		const std::map< int, cv::Point3f > &	words2,
		std::vector< cv::Point3f > &	inliers1,
		std::vector< cv::Point3f > &	inliers2,
		float	maxDepth,
		std::vector< int > *	correspondences = 0
	)

Definition at line 363 of file util3d_correspondences.cpp.

pcl::IndicesPtr rtabmap::util3d::frustumFiltering	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const Transform &	cameraPose,
		float	horizontalFOV,
		float	verticalFOV,
		float	nearClipPlaneDistance,
		float	farClipPlaneDistance,
		bool	negative = false
	)

Definition at line 343 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::frustumFiltering	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const Transform &	cameraPose,
		float	horizontalFOV,
		float	verticalFOV,
		float	nearClipPlaneDistance,
		float	farClipPlaneDistance,
		bool	negative = false
	)

Definition at line 376 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::frustumFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const Transform &	cameraPose,
		float	horizontalFOV,
		float	verticalFOV,
		float	nearClipPlaneDistance,
		float	farClipPlaneDistance,
		bool	negative = false
	)

Definition at line 404 of file util3d_filtering.cpp.

std::vector< cv::Point3f > rtabmap::util3d::generateKeypoints3DDepth	(	const std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	depth,
		const CameraModel &	cameraModel,
		float	minDepth = 0,
		float	maxDepth = 0
	)

Definition at line 51 of file util3d_features.cpp.

std::vector< cv::Point3f > rtabmap::util3d::generateKeypoints3DDepth	(	const std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	depth,
		const std::vector< CameraModel > &	cameraModels,
		float	minDepth = 0,
		float	maxDepth = 0
	)

Definition at line 64 of file util3d_features.cpp.

std::vector< cv::Point3f > rtabmap::util3d::generateKeypoints3DDisparity	(	const std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	disparity,
		const StereoCameraModel &	stereoCameraModel,
		float	minDepth = 0,
		float	maxDepth = 0
	)

Definition at line 119 of file util3d_features.cpp.

std::vector< cv::Point3f > rtabmap::util3d::generateKeypoints3DStereo	(	const std::vector< cv::Point2f > &	leftCorners,
		const std::vector< cv::Point2f > &	rightCorners,
		const StereoCameraModel &	model,
		const std::vector< unsigned char > &	mask = std::vector<unsigned char>(),
		float	minDepth = 0,
		float	maxDepth = 0
	)

Definition at line 155 of file util3d_features.cpp.

std::map< int, cv::Point3f > rtabmap::util3d::generateWords3DMono	(	const std::map< int, cv::KeyPoint > &	kpts,
		const std::map< int, cv::KeyPoint > &	previousKpts,
		const CameraModel &	cameraModel,
		Transform &	cameraTransform,
		int	pnpIterations = 100,
		float	pnpReprojError = 8.0f,
		int	pnpFlags = 0,
		int	pnpRefineIterations = 1,
		float	ransacParam1 = 3.0f,
		float	ransacParam2 = 0.99f,
		const std::map< int, cv::Point3f > &	refGuess3D = std::map<int, cv::Point3f>(),
		double *	variance = 0
	)

Definition at line 206 of file util3d_features.cpp.

int rtabmap::util3d::getCorrespondencesCount	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_source,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_target,
		float	maxDistance
	)

Definition at line 275 of file util3d_correspondences.cpp.

Transform rtabmap::util3d::icp	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_source,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud_target,
		double	maxCorrespondenceDistance,
		int	maximumIterations,
		bool &	hasConverged,
		pcl::PointCloud< pcl::PointXYZ > &	cloud_source_registered,
		float	epsilon = 0.0f,
		bool	icp2D = false
	)

Definition at line 303 of file util3d_registration.cpp.

Transform rtabmap::util3d::icpPointToPlane	(	const pcl::PointCloud< pcl::PointNormal >::ConstPtr &	cloud_source,
		const pcl::PointCloud< pcl::PointNormal >::ConstPtr &	cloud_target,
		double	maxCorrespondenceDistance,
		int	maximumIterations,
		bool &	hasConverged,
		pcl::PointCloud< pcl::PointNormal > &	cloud_source_registered,
		float	epsilon = 0.0f,
		bool	icp2D = false
	)

Definition at line 341 of file util3d_registration.cpp.

bool rtabmap::util3d::isFinite

(

const cv::Point3f &

pt

)

Definition at line 1308 of file util3d.cpp.

cv::Mat rtabmap::util3d::laserScan2dFromPointCloud	(	const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const Transform &	transform = Transform()
	)

Definition at line 977 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ > 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()
	)

Definition at line 886 of file util3d.cpp.

cv::Mat rtabmap::util3d::laserScanFromPointCloud	(	const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const Transform &	transform = Transform()
	)

Definition at line 922 of file util3d.cpp.

cv::Mat rtabmap::util3d::laserScanFromPointCloud	(	const pcl::PointCloud< pcl::PointNormal > &	cloud,
		const Transform &	transform = Transform()
	)

Definition at line 947 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::laserScanToPointCloud	(	const cv::Mat &	laserScan,
		const Transform &	transform = Transform()
	)

Definition at line 1000 of file util3d.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr rtabmap::util3d::laserScanToPointCloudNormal	(	const cv::Mat &	laserScan,
		const Transform &	transform = Transform()
	)

Definition at line 1036 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::loadBINCloud	(	const std::string &	fileName,
		int	dim
	)

Definition at line 1461 of file util3d.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::loadCloud	(	const std::string &	path,
		const Transform &	transform = Transform::getIdentity(),
		int	downsampleStep = 1,
		float	voxelSize = 0.0f
	)

Definition at line 1521 of file util3d.cpp.

cv::Mat rtabmap::util3d::loadScan	(	const std::string &	path,
		const Transform &	transform = Transform::getIdentity(),
		int	downsampleStep = 1,
		float	voxelSize = 0.0f,
		int	normalsK = 0
	)

Definition at line 1497 of file util3d.cpp.

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
	)

pcl::IndicesPtr rtabmap::util3d::normalFiltering	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		float	angleMax,
		const Eigen::Vector4f &	normal,
		int	normalKSearch,
		const Eigen::Vector4f &	viewpoint
	)

For convenience.

Definition at line 1273 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::normalFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	angleMax,
		const Eigen::Vector4f &	normal,
		int	normalKSearch,
		const Eigen::Vector4f &	viewpoint
	)

Definition at line 1283 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::normalFiltering	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	angleMax,
		const Eigen::Vector4f &	normal,
		int	normalKSearch,
		const Eigen::Vector4f &	viewpoint
	)

Given a normal and a maximum angle error, keep all points of the cloud respecting this normal.

The normals are computed using the radius search parameter (pcl::NormalEstimation class is used for this), then for each normal, the corresponding point is filtered if the angle (using pcl::getAngle3D()) with the normal specified by the user is larger than the maximum angle specified by the user.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to process, if empty, all points in the cloud are processed.
angleMax	the maximum angle.
normal	the normal to which each point's normal is compared.
normalKSearch	number of neighbor points used for normal estimation (see pcl::NormalEstimation).
viewpoint	from which viewpoint the normals should be estimated (see pcl::NormalEstimation).

Returns:

the indices of the points which respect the normal constraint.

Definition at line 1296 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::normalFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	angleMax,
		const Eigen::Vector4f &	normal,
		int	normalKSearch,
		const Eigen::Vector4f &	viewpoint
	)

Definition at line 1356 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::normalFiltering	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	angleMax,
		const Eigen::Vector4f &	normal,
		int	normalKSearch,
		const Eigen::Vector4f &	viewpoint
	)

Definition at line 1416 of file util3d_filtering.cpp.

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)
	)

Definition at line 194 of file util3d_surface.h.

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
	)

Definition at line 272 of file util3d_mapping.hpp.

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
	)

Definition at line 311 of file util3d_mapping.hpp.

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
	)

Definition at line 199 of file util3d_mapping.hpp.

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
	)

Definition at line 229 of file util3d_mapping.hpp.

void rtabmap::util3d::occupancy2DFromLaserScan	(	const cv::Mat &	scan,
		cv::Mat &	ground,
		cv::Mat &	obstacles,
		float	cellSize,
		bool	unknownSpaceFilled = false,
		float	scanMaxRange = 0.0f
	)

Definition at line 48 of file util3d_mapping.cpp.

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)
	)

pcl::IndicesPtr rtabmap::util3d::passThrough	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const std::string &	axis,
		float	min,
		float	max,
		bool	negative = false
	)

Definition at line 260 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::passThrough	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const std::string &	axis,
		float	min,
		float	max,
		bool	negative = false
	)

Definition at line 281 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::passThrough	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const std::string &	axis,
		float	min,
		float	max,
		bool	negative = false
	)

Definition at line 303 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::passThrough	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const std::string &	axis,
		float	min,
		float	max,
		bool	negative = false
	)

Definition at line 323 of file util3d_filtering.cpp.

template<typename PointT >

pcl::PointCloud< PointT >::Ptr rtabmap::util3d::projectCloudOnXYPlane

(

const typename pcl::PointCloud< PointT > &

cloud

)

Definition at line 41 of file util3d_mapping.hpp.

cv::Mat rtabmap::util3d::projectCloudToCamera	(	const cv::Size &	imageSize,
		const cv::Mat &	cameraMatrixK,
		const cv::Mat &	laserScan,
		const rtabmap::Transform &	cameraTransform
	)

Definition at line 1114 of file util3d.cpp.

cv::Mat rtabmap::util3d::projectCloudToCamera	(	const cv::Size &	imageSize,
		const cv::Mat &	cameraMatrixK,
		const pcl::PointCloud< pcl::PointXYZ >::Ptr	laserScan,
		const rtabmap::Transform &	cameraTransform
	)

Definition at line 1179 of file util3d.cpp.

pcl::PointXYZ rtabmap::util3d::projectDepthTo3D	(	const cv::Mat &	depthImage,
		float	x,
		float	y,
		float	cx,
		float	cy,
		float	fx,
		float	fy,
		bool	smoothing,
		float	maxZError = 0.02f
	)

Definition at line 211 of file util3d.cpp.

cv::Point3f rtabmap::util3d::projectDisparityTo3D	(	const cv::Point2f &	pt,
		float	disparity,
		const StereoCameraModel &	model
	)

Definition at line 1075 of file util3d.cpp.

cv::Point3f rtabmap::util3d::projectDisparityTo3D	(	const cv::Point2f &	pt,
		const cv::Mat &	disparity,
		const StereoCameraModel &	model
	)

Definition at line 1095 of file util3d.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

For convenience.

Definition at line 470 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Definition at line 478 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Definition at line 486 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Definition at line 494 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Wrapper of the pcl::RadiusOutlierRemoval class.

Points in the cloud which have less than a minimum of neighbors in the specified radius are filtered.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to check, if empty, all points in the cloud are checked.
radiusSearch	the radius in meter.
minNeighborsInRadius	the minimum of neighbors to keep the point.

Returns:

the indices of the points satisfying the parameters.

Definition at line 504 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Definition at line 549 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Definition at line 594 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::radiusFiltering	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	radiusSearch,
		int	minNeighborsInRadius
	)

Definition at line 639 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::randomSampling	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		int	samples
	)

Definition at line 237 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::randomSampling	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		int	samples
	)

Definition at line 248 of file util3d_filtering.cpp.

void rtabmap::util3d::rayTrace	(	const cv::Point2i &	start,
		const cv::Point2i &	end,
		cv::Mat &	grid,
		bool	stopOnObstacle
	)

Definition at line 552 of file util3d_mapping.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::removeNaNFromPointCloud

(

const pcl::PointCloud< pcl::PointXYZ >::Ptr &

cloud

)

Definition at line 433 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::removeNaNFromPointCloud

(

const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &

cloud

)

Definition at line 441 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr rtabmap::util3d::removeNaNNormalsFromPointCloud

(

const pcl::PointCloud< pcl::PointNormal >::Ptr &

cloud

)

Definition at line 451 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::removeNaNNormalsFromPointCloud

(

const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &

cloud

)

Definition at line 459 of file util3d_filtering.cpp.

void 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
	)

Definition at line 134 of file util3d.cpp.

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	cloudFromDepthconst 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	cloudFromDepthRGBconst 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."
	)

void rtabmap::util3d::savePCDWords	(	const std::string &	fileName,
		const std::multimap< int, pcl::PointXYZ > &	words,
		const Transform &	transform = Transform::getIdentity()
	)

Definition at line 1424 of file util3d.cpp.

void rtabmap::util3d::savePCDWords	(	const std::string &	fileName,
		const std::multimap< int, cv::Point3f > &	words,
		const Transform &	transform = Transform::getIdentity()
	)

Definition at line 1442 of file util3d.cpp.

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
	)

Definition at line 54 of file util3d_mapping.hpp.

template<typename PointT >

void rtabmap::util3d::segmentObstaclesFromGround	(	const typename pcl::PointCloud< PointT >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		pcl::IndicesPtr &	ground,
		pcl::IndicesPtr &	obstacles,
		int	normalKSearch,
		float	groundNormalAngle,
		float	clusterRadius,
		int	minClusterSize,
		bool	segmentFlatObstacles = false,
		float	maxGroundHeight = 0.0f,
		pcl::IndicesPtr *	flatObstacles = 0,
		const Eigen::Vector4f &	viewPoint = Eigen::Vector4f(0, 0, 100, 0)
	)

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
	)

Definition at line 169 of file util3d_mapping.hpp.

void rtabmap::util3d::solvePnPRansac	(	const std::vector< cv::Point3f > &	objectPoints,
		const std::vector< cv::Point2f > &	imagePoints,
		const cv::Mat &	cameraMatrix,
		const cv::Mat &	distCoeffs,
		cv::Mat &	rvec,
		cv::Mat &	tvec,
		bool	useExtrinsicGuess,
		int	iterationsCount,
		float	reprojectionError,
		int	minInliersCount,
		std::vector< int > &	inliers,
		int	flags,
		int	refineIterations = 1,
		float	refineSigma = 3.0f
	)

Definition at line 314 of file util3d_motion_estimation.cpp.

pcl::IndicesPtr rtabmap::util3d::subtractAdaptiveFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	substractCloud,
		const pcl::IndicesPtr &	substractIndices,
		float	radiusSearchRatio = 0.01,
		int	minNeighborsInRadius = 1,
		const Eigen::Vector3f &	viewpoint = Eigen::Vector3f(0,0,0)
	)

Subtract a cloud from another one using radius filtering.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to check, if empty, all points in the cloud are checked.
cloud	the input cloud to subtract.
indices	the input indices of the subtracted cloud to check, if empty, all points in the cloud are checked.
radiusSearchRatio	the ratio used to compute the radius at different distances (e.g., a ratio of 0.1 at 4 m results in a radius of 4 cm).

Returns:

the indices of the points satisfying the parameters.

Definition at line 1048 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::subtractAdaptiveFiltering	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	substractCloud,
		const pcl::IndicesPtr &	substractIndices,
		float	radiusSearchRatio = 0.01,
		float	maxAngle = M_PI/4.0f,
		int	minNeighborsInRadius = 1,
		const Eigen::Vector3f &	viewpoint = Eigen::Vector3f(0,0,0)
	)

Subtract a cloud from another one using radius filtering.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to check, if empty, all points in the cloud are checked.
cloud	the input cloud to subtract.
indices	the input indices of the subtracted cloud to check, if empty, all points in the cloud are checked.
radiusSearchRatio	the ratio used to compute the radius at different distances (e.g., a ratio of 0.01 at 4 m results in a radius of 4 cm).

Returns:

the indices of the points satisfying the parameters.

Definition at line 1127 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::subtractFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	substractCloud,
		float	radiusSearch,
		int	minNeighborsInRadius = 1
	)

For convenience.

Definition at line 685 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::subtractFiltering	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	substractCloud,
		const pcl::IndicesPtr &	substractIndices,
		float	radiusSearch,
		int	minNeighborsInRadius = 1
	)

Subtract a cloud from another one using radius filtering.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to check, if empty, all points in the cloud are checked.
cloud	the input cloud to subtract.
indices	the input indices of the subtracted cloud to check, if empty, all points in the cloud are checked.
radiusSearch	the radius in meter.

Returns:

the indices of the points satisfying the parameters.

Definition at line 699 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr rtabmap::util3d::subtractFiltering	(	const pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		const pcl::PointCloud< pcl::PointNormal >::Ptr &	substractCloud,
		float	radiusSearch,
		float	maxAngle = M_PI/4.0f,
		int	minNeighborsInRadius = 1
	)

For convenience.

Definition at line 762 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::subtractFiltering	(	const pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const pcl::PointCloud< pcl::PointNormal >::Ptr &	substractCloud,
		const pcl::IndicesPtr &	substractIndices,
		float	radiusSearch,
		float	maxAngle = M_PI/4.0f,
		int	minNeighborsInRadius = 1
	)

Subtract a cloud from another one using radius filtering.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to check, if empty, all points in the cloud are checked.
cloud	the input cloud to subtract.
indices	the input indices of the subtracted cloud to check, if empty, all points in the cloud are checked.
radiusSearch	the radius in meter.

Returns:

the indices of the points satisfying the parameters.

Definition at line 777 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::subtractFiltering	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	substractCloud,
		float	radiusSearch,
		float	maxAngle = M_PI/4.0f,
		int	minNeighborsInRadius = 1
	)

For convenience.

Definition at line 905 of file util3d_filtering.cpp.

pcl::IndicesPtr rtabmap::util3d::subtractFiltering	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	substractCloud,
		const pcl::IndicesPtr &	substractIndices,
		float	radiusSearch,
		float	maxAngle = M_PI/4.0f,
		int	minNeighborsInRadius = 1
	)

Subtract a cloud from another one using radius filtering.

Parameters:

cloud	the input cloud.
indices	the input indices of the cloud to check, if empty, all points in the cloud are checked.
cloud	the input cloud to subtract.
indices	the input indices of the subtracted cloud to check, if empty, all points in the cloud are checked.
radiusSearch	the radius in meter.

Returns:

the indices of the points satisfying the parameters.

Definition at line 920 of file util3d_filtering.cpp.

Transform rtabmap::util3d::transformFromXYZCorrespondences	(	const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud1,
		const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &	cloud2,
		double	inlierThreshold = 0.02,
		int	iterations = 100,
		int	refineModelIterations = 10,
		double	refineModelSigma = 3.0,
		std::vector< int > *	inliers = 0,
		double *	variance = 0
	)

Definition at line 61 of file util3d_registration.cpp.

Transform rtabmap::util3d::transformFromXYZCorrespondencesSVD	(	const pcl::PointCloud< pcl::PointXYZ > &	cloud1,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud2
	)

Definition at line 48 of file util3d_registration.cpp.

cv::Point3f rtabmap::util3d::transformPoint	(	const cv::Point3f &	pt,
		const Transform &	transform
	)

Definition at line 71 of file util3d_transforms.cpp.

pcl::PointXYZ rtabmap::util3d::transformPoint	(	const pcl::PointXYZ &	pt,
		const Transform &	transform
	)

Definition at line 81 of file util3d_transforms.cpp.

pcl::PointXYZRGB rtabmap::util3d::transformPoint	(	const pcl::PointXYZRGB &	pt,
		const Transform &	transform
	)

Definition at line 87 of file util3d_transforms.cpp.

pcl::PointNormal rtabmap::util3d::transformPoint	(	const pcl::PointNormal &	point,
		const Transform &	transform
	)

Definition at line 93 of file util3d_transforms.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::transformPointCloud	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const Transform &	transform
	)

Definition at line 38 of file util3d_transforms.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::transformPointCloud	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const Transform &	transform
	)

Definition at line 46 of file util3d_transforms.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr rtabmap::util3d::transformPointCloud	(	const pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		const Transform &	transform
	)

Definition at line 54 of file util3d_transforms.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::transformPointCloud	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const Transform &	transform
	)

Definition at line 62 of file util3d_transforms.cpp.

pcl::PointCloud<pcl::PointXYZ>::Ptr rtabmap::util3d::uniformSampling	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		float	voxelSize
	)		[inline]

Definition at line 84 of file util3d_filtering.h.

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::util3d::uniformSampling	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	voxelSize
	)		[inline]

Definition at line 90 of file util3d_filtering.h.

pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr rtabmap::util3d::uniformSampling	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		float	voxelSize
	)		[inline]

Definition at line 96 of file util3d_filtering.h.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	voxelSize
	)

Definition at line 138 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	voxelSize
	)

Definition at line 155 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	voxelSize
	)

Definition at line 172 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		const pcl::IndicesPtr &	indices,
		float	voxelSize
	)

Definition at line 189 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointXYZ >::Ptr &	cloud,
		float	voxelSize
	)

Definition at line 207 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointNormal >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointNormal >::Ptr &	cloud,
		float	voxelSize
	)

Definition at line 214 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	cloud,
		float	voxelSize
	)

Definition at line 221 of file util3d_filtering.cpp.

pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::voxelize	(	const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &	cloud,
		float	voxelSize
	)

Definition at line 228 of file util3d_filtering.cpp.