util3d_filtering.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
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15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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27 
28 #ifndef UTIL3D_FILTERING_H_
29 #define UTIL3D_FILTERING_H_
30 
31 #include <rtabmap/core/RtabmapExp.h>
32 #include <rtabmap/core/Transform.h>
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <pcl/pcl_base.h>
36 #include <pcl/ModelCoefficients.h>
37 #include <rtabmap/core/LaserScan.h>
38 
39 namespace rtabmap
40 {
41 
42 namespace util3d
43 {
44 
51 LaserScan RTABMAP_EXP commonFiltering(
52  const LaserScan & scan,
53  int downsamplingStep,
54  float rangeMin = 0.0f,
55  float rangeMax = 0.0f,
56  float voxelSize = 0.0f,
57  int normalK = 0,
58  float normalRadius = 0.0f,
59  bool forceGroundNormalsUp = false);
60 
61 LaserScan RTABMAP_EXP rangeFiltering(
62  const LaserScan & scan,
63  float rangeMin,
64  float rangeMax);
65 
66 LaserScan RTABMAP_EXP downsample(
67  const LaserScan & cloud,
68  int step);
69 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP downsample(
70  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
71  int step);
72 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP downsample(
73  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
74  int step);
75 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP downsample(
76  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
77  int step);
78 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP downsample(
79  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
80  int step);
81 
82 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
83  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
84  const pcl::IndicesPtr & indices,
85  float voxelSize);
86 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP voxelize(
87  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
88  const pcl::IndicesPtr & indices,
89  float voxelSize);
90 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP voxelize(
91  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
92  const pcl::IndicesPtr & indices,
93  float voxelSize);
94 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
95  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
96  const pcl::IndicesPtr & indices,
97  float voxelSize);
98 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
99  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
100  const pcl::IndicesPtr & indices,
101  float voxelSize);
102 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP voxelize(
103  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
104  const pcl::IndicesPtr & indices,
105  float voxelSize);
106 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
107  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
108  float voxelSize);
109 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP voxelize(
110  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
111  float voxelSize);
112 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP voxelize(
113  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
114  float voxelSize);
115 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
116  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
117  float voxelSize);
118 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
119  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
120  float voxelSize);
121 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP voxelize(
122  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
123  float voxelSize);
124 
125 inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
126  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
127  float voxelSize)
128 {
129  return voxelize(cloud, voxelSize);
130 }
131 inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
132  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
133  float voxelSize)
134 {
135  return voxelize(cloud, voxelSize);
136 }
137 inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
138  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
139  float voxelSize)
140 {
141  return voxelize(cloud, voxelSize);
142 }
143 
144 
145 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP randomSampling(
146  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
147  int samples);
148 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP randomSampling(
149  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
150  int samples);
151 
152 
153 pcl::IndicesPtr RTABMAP_EXP passThrough(
154  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
155  const pcl::IndicesPtr & indices,
156  const std::string & axis,
157  float min,
158  float max,
159  bool negative = false);
160 pcl::IndicesPtr RTABMAP_EXP passThrough(
161  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
162  const pcl::IndicesPtr & indices,
163  const std::string & axis,
164  float min,
165  float max,
166  bool negative = false);
167 pcl::IndicesPtr RTABMAP_EXP passThrough(
168  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
169  const pcl::IndicesPtr & indices,
170  const std::string & axis,
171  float min,
172  float max,
173  bool negative = false);
174 pcl::IndicesPtr RTABMAP_EXP passThrough(
175  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
176  const pcl::IndicesPtr & indices,
177  const std::string & axis,
178  float min,
179  float max,
180  bool negative = false);
181 pcl::IndicesPtr RTABMAP_EXP passThrough(
182  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
183  const pcl::IndicesPtr & indices,
184  const std::string & axis,
185  float min,
186  float max,
187  bool negative = false);
188 pcl::IndicesPtr RTABMAP_EXP passThrough(
189  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
190  const pcl::IndicesPtr & indices,
191  const std::string & axis,
192  float min,
193  float max,
194  bool negative = false);
195 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP passThrough(
196  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
197  const std::string & axis,
198  float min,
199  float max,
200  bool negative = false);
201 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP passThrough(
202  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
203  const std::string & axis,
204  float min,
205  float max,
206  bool negative = false);
207 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP passThrough(
208  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
209  const std::string & axis,
210  float min,
211  float max,
212  bool negative = false);
213 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP passThrough(
214  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
215  const std::string & axis,
216  float min,
217  float max,
218  bool negative = false);
219 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP passThrough(
220  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
221  const std::string & axis,
222  float min,
223  float max,
224  bool negative = false);
225 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP passThrough(
226  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
227  const std::string & axis,
228  float min,
229  float max,
230  bool negative = false);
231 
232 pcl::IndicesPtr RTABMAP_EXP cropBox(
233  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
234  const pcl::IndicesPtr & indices,
235  const Eigen::Vector4f & min,
236  const Eigen::Vector4f & max,
237  const Transform & transform = Transform::getIdentity(),
238  bool negative = false);
239 pcl::IndicesPtr RTABMAP_EXP cropBox(
240  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
241  const pcl::IndicesPtr & indices,
242  const Eigen::Vector4f & min,
243  const Eigen::Vector4f & max,
244  const Transform & transform = Transform::getIdentity(),
245  bool negative = false);
246 pcl::IndicesPtr RTABMAP_EXP cropBox(
247  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
248  const pcl::IndicesPtr & indices,
249  const Eigen::Vector4f & min,
250  const Eigen::Vector4f & max,
251  const Transform & transform = Transform::getIdentity(),
252  bool negative = false);
253 pcl::IndicesPtr RTABMAP_EXP cropBox(
254  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
255  const pcl::IndicesPtr & indices,
256  const Eigen::Vector4f & min,
257  const Eigen::Vector4f & max,
258  const Transform & transform = Transform::getIdentity(),
259  bool negative = false);
260 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cropBox(
261  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
262  const Eigen::Vector4f & min,
263  const Eigen::Vector4f & max,
264  const Transform & transform = Transform::getIdentity(),
265  bool negative = false);
266 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP cropBox(
267  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
268  const Eigen::Vector4f & min,
269  const Eigen::Vector4f & max,
270  const Transform & transform = Transform::getIdentity(),
271  bool negative = false);
272 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cropBox(
273  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
274  const Eigen::Vector4f & min,
275  const Eigen::Vector4f & max,
276  const Transform & transform = Transform::getIdentity(),
277  bool negative = false);
278 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP cropBox(
279  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
280  const Eigen::Vector4f & min,
281  const Eigen::Vector4f & max,
282  const Transform & transform = Transform::getIdentity(),
283  bool negative = false);
284 
285 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
286 pcl::IndicesPtr RTABMAP_EXP frustumFiltering(
287  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
288  const pcl::IndicesPtr & indices,
289  const Transform & cameraPose,
290  float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
291  float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
292  float nearClipPlaneDistance,
293  float farClipPlaneDistance,
294  bool negative = false);
295 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
296 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP frustumFiltering(
297  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
298  const Transform & cameraPose,
299  float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
300  float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
301  float nearClipPlaneDistance,
302  float farClipPlaneDistance,
303  bool negative = false);
304 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
305 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP frustumFiltering(
306  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
307  const Transform & cameraPose,
308  float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
309  float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
310  float nearClipPlaneDistance,
311  float farClipPlaneDistance,
312  bool negative = false);
313 
314 
315 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
316  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
317 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
318  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
319 
320 
321 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(
322  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
323 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(
324  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
325 
330 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
331  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
332  float radiusSearch,
333  int minNeighborsInRadius);
334 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
335  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
336  float radiusSearch,
337  int minNeighborsInRadius);
338 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
339  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
340  float radiusSearch,
341  int minNeighborsInRadius);
342 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
343  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
344  float radiusSearch,
345  int minNeighborsInRadius);
346 
359 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
360  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
361  const pcl::IndicesPtr & indices,
362  float radiusSearch,
363  int minNeighborsInRadius);
364 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
365  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
366  const pcl::IndicesPtr & indices,
367  float radiusSearch,
368  int minNeighborsInRadius);
369 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
370  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
371  const pcl::IndicesPtr & indices,
372  float radiusSearch,
373  int minNeighborsInRadius);
374 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
375  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
376  const pcl::IndicesPtr & indices,
377  float radiusSearch,
378  int minNeighborsInRadius);
379 
383 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP subtractFiltering(
384  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
385  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
386  float radiusSearch,
387  int minNeighborsInRadius = 1);
388 
398 pcl::IndicesPtr RTABMAP_EXP subtractFiltering(
399  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
400  const pcl::IndicesPtr & indices,
401  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
402  const pcl::IndicesPtr & substractIndices,
403  float radiusSearch,
404  int minNeighborsInRadius = 1);
405 
409 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP subtractFiltering(
410  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
411  const pcl::PointCloud<pcl::PointNormal>::Ptr & substractCloud,
412  float radiusSearch,
413  float maxAngle = M_PI/4.0f,
414  int minNeighborsInRadius = 1);
415 
425 pcl::IndicesPtr RTABMAP_EXP subtractFiltering(
426  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
427  const pcl::IndicesPtr & indices,
428  const pcl::PointCloud<pcl::PointNormal>::Ptr & substractCloud,
429  const pcl::IndicesPtr & substractIndices,
430  float radiusSearch,
431  float maxAngle = M_PI/4.0f,
432  int minNeighborsInRadius = 1);
433 
437 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP subtractFiltering(
438  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
439  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & substractCloud,
440  float radiusSearch,
441  float maxAngle = M_PI/4.0f,
442  int minNeighborsInRadius = 1);
443 
453 pcl::IndicesPtr RTABMAP_EXP subtractFiltering(
454  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
455  const pcl::IndicesPtr & indices,
456  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & substractCloud,
457  const pcl::IndicesPtr & substractIndices,
458  float radiusSearch,
459  float maxAngle = M_PI/4.0f,
460  int minNeighborsInRadius = 1);
461 
471 pcl::IndicesPtr RTABMAP_EXP subtractAdaptiveFiltering(
472  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
473  const pcl::IndicesPtr & indices,
474  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
475  const pcl::IndicesPtr & substractIndices,
476  float radiusSearchRatio = 0.01,
477  int minNeighborsInRadius = 1,
478  const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
479 
489 pcl::IndicesPtr RTABMAP_EXP subtractAdaptiveFiltering(
490  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
491  const pcl::IndicesPtr & indices,
492  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & substractCloud,
493  const pcl::IndicesPtr & substractIndices,
494  float radiusSearchRatio = 0.01,
495  float maxAngle = M_PI/4.0f,
496  int minNeighborsInRadius = 1,
497  const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
498 
499 
504 pcl::IndicesPtr RTABMAP_EXP normalFiltering(
505  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
506  float angleMax,
507  const Eigen::Vector4f & normal,
508  int normalKSearch,
509  const Eigen::Vector4f & viewpoint);
510 pcl::IndicesPtr RTABMAP_EXP normalFiltering(
511  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
512  float angleMax,
513  const Eigen::Vector4f & normal,
514  int normalKSearch,
515  const Eigen::Vector4f & viewpoint);
516 
533 pcl::IndicesPtr RTABMAP_EXP normalFiltering(
534  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
535  const pcl::IndicesPtr & indices,
536  float angleMax,
537  const Eigen::Vector4f & normal,
538  int normalKSearch,
539  const Eigen::Vector4f & viewpoint);
540 pcl::IndicesPtr RTABMAP_EXP normalFiltering(
541  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
542  const pcl::IndicesPtr & indices,
543  float angleMax,
544  const Eigen::Vector4f & normal,
545  int normalKSearch,
546  const Eigen::Vector4f & viewpoint);
547 pcl::IndicesPtr RTABMAP_EXP normalFiltering(
548  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
549  const pcl::IndicesPtr & indices,
550  float angleMax,
551  const Eigen::Vector4f & normal,
552  int normalKSearch,
553  const Eigen::Vector4f & viewpoint);
554 pcl::IndicesPtr RTABMAP_EXP normalFiltering(
555  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
556  const pcl::IndicesPtr & indices,
557  float angleMax,
558  const Eigen::Vector4f & normal,
559  int normalKSearch,
560  const Eigen::Vector4f & viewpoint);
561 
565 std::vector<pcl::IndicesPtr> RTABMAP_EXP extractClusters(
566  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
567  float clusterTolerance,
568  int minClusterSize,
569  int maxClusterSize = std::numeric_limits<int>::max(),
570  int * biggestClusterIndex = 0);
571 std::vector<pcl::IndicesPtr> RTABMAP_EXP extractClusters(
572  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
573  float clusterTolerance,
574  int minClusterSize,
575  int maxClusterSize = std::numeric_limits<int>::max(),
576  int * biggestClusterIndex = 0);
577 
590 std::vector<pcl::IndicesPtr> RTABMAP_EXP extractClusters(
591  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
592  const pcl::IndicesPtr & indices,
593  float clusterTolerance,
594  int minClusterSize,
595  int maxClusterSize = std::numeric_limits<int>::max(),
596  int * biggestClusterIndex = 0);
597 std::vector<pcl::IndicesPtr> RTABMAP_EXP extractClusters(
598  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
599  const pcl::IndicesPtr & indices,
600  float clusterTolerance,
601  int minClusterSize,
602  int maxClusterSize = std::numeric_limits<int>::max(),
603  int * biggestClusterIndex = 0);
604 std::vector<pcl::IndicesPtr> RTABMAP_EXP extractClusters(
605  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
606  const pcl::IndicesPtr & indices,
607  float clusterTolerance,
608  int minClusterSize,
609  int maxClusterSize = std::numeric_limits<int>::max(),
610  int * biggestClusterIndex = 0);
611 std::vector<pcl::IndicesPtr> RTABMAP_EXP extractClusters(
612  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
613  const pcl::IndicesPtr & indices,
614  float clusterTolerance,
615  int minClusterSize,
616  int maxClusterSize = std::numeric_limits<int>::max(),
617  int * biggestClusterIndex = 0);
618 
619 pcl::IndicesPtr RTABMAP_EXP extractIndices(
620  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
621  const pcl::IndicesPtr & indices,
622  bool negative);
623 pcl::IndicesPtr RTABMAP_EXP extractIndices(
624  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
625  const pcl::IndicesPtr & indices,
626  bool negative);
627 pcl::IndicesPtr RTABMAP_EXP extractIndices(
628  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
629  const pcl::IndicesPtr & indices,
630  bool negative);
631 pcl::IndicesPtr RTABMAP_EXP extractIndices(
632  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
633  const pcl::IndicesPtr & indices,
634  bool negative);
635 
636 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP extractIndices(
637  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
638  const pcl::IndicesPtr & indices,
639  bool negative,
640  bool keepOrganized);
641 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP extractIndices(
642  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
643  const pcl::IndicesPtr & indices,
644  bool negative,
645  bool keepOrganized);
646 // PCL default lacks of pcl::PointNormal type support
647 //pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP extractIndices(
648 // const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
649 // const pcl::IndicesPtr & indices,
650 // bool negative,
651 // bool keepOrganized);
652 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP extractIndices(
653  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
654  const pcl::IndicesPtr & indices,
655  bool negative,
656  bool keepOrganized);
657 
658 pcl::IndicesPtr extractPlane(
659  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
660  float distanceThreshold,
661  int maxIterations = 100,
662  pcl::ModelCoefficients * coefficientsOut = 0);
663 pcl::IndicesPtr extractPlane(
664  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
665  const pcl::IndicesPtr & indices,
666  float distanceThreshold,
667  int maxIterations = 100,
668  pcl::ModelCoefficients * coefficientsOut = 0);
669 
670 } // namespace util3d
671 } // namespace rtabmap
672 
673 #endif /* UTIL3D_FILTERING_H_ */
rtabmap::util3d::subtractFiltering
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)
Definition: util3d_filtering.cpp:860
rtabmap::util3d::cropBox
pcl::IndicesPtr RTABMAP_EXP cropBox(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
Definition: util3d_filtering.cpp:603
rtabmap::util3d::extractClusters
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)
Definition: util3d_filtering.cpp:1518
glm::min
GLM_FUNC_DECL genType min(genType const &x, genType const &y)
rtabmap::util3d::passThrough
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)
Definition: util3d_filtering.cpp:507
f
f
glm::axis
GLM_FUNC_DECL detail::tvec3< T, P > axis(detail::tquat< T, P > const &x)
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:364
rtabmap::util3d::removeNaNFromPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP removeNaNFromPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
Definition: util3d_filtering.cpp:745
rtabmap::util3d::subtractAdaptiveFiltering
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))
Definition: util3d_filtering.cpp:1126
glm::step
GLM_FUNC_DECL genType step(genType const &edge, genType const &x)
rtabmap::util3d::frustumFiltering
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)
Definition: util3d_filtering.cpp:693
rtabmap::util3d::extractIndices
pcl::IndicesPtr RTABMAP_EXP extractIndices(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
Definition: util3d_filtering.cpp:1646
rtabmap::util3d::downsample
LaserScan RTABMAP_EXP downsample(const LaserScan &cloud, int step)
Definition: util3d_filtering.cpp:317
RTABMAP_EXP
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
rtabmap::util3d::randomSampling
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP randomSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
Definition: util3d_filtering.cpp:475
rtabmap::util3d::radiusFiltering
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
Definition: util3d_filtering.cpp:775
glm::max
GLM_FUNC_DECL genType max(genType const &x, genType const &y)
rtabmap::util3d::extractPlane
pcl::IndicesPtr extractPlane(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
Definition: util3d_filtering.cpp:1697
rtabmap::util3d::uniformSampling
pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
Definition: util3d_filtering.h:125
rtabmap::util3d::rangeFiltering
LaserScan RTABMAP_EXP rangeFiltering(const LaserScan &scan, float rangeMin, float rangeMax)
Definition: util3d_filtering.cpp:270
rtabmap::util3d::removeNaNNormalsFromPointCloud
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
Definition: util3d_filtering.cpp:763
rtabmap::util3d::commonFiltering
LaserScan RTABMAP_EXP commonFiltering(const LaserScan &scan, int downsamplingStep, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalK=0, float normalRadius=0.0f, bool forceGroundNormalsUp=false)
Definition: util3d_filtering.cpp:74
rtabmap::util3d::voxelize
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
Definition: util3d_filtering.cpp:407
rtabmap::util3d::normalFiltering
pcl::IndicesPtr RTABMAP_EXP normalFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
Definition: util3d_filtering.cpp:1351

rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:41