util3d_filtering.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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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.
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27 
28 #ifndef UTIL3D_FILTERING_H_
29 #define UTIL3D_FILTERING_H_
30 
31 #include <rtabmap/core/rtabmap_core_export.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_CORE_EXPORT 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  float groundNormalsUp = 0.0f);
60 // Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp=0.8, otherwise set groundNormalsUp=0.0.
61 RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT commonFiltering(
62  const LaserScan & scan,
63  int downsamplingStep,
64  float rangeMin,
65  float rangeMax,
66  float voxelSize,
67  int normalK,
68  float normalRadius,
69  bool forceGroundNormalsUp);
70 
71 LaserScan RTABMAP_CORE_EXPORT rangeFiltering(
72  const LaserScan & scan,
73  float rangeMin,
74  float rangeMax);
75 
76 pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
77  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
78  const pcl::IndicesPtr & indices,
79  float rangeMin,
80  float rangeMax);
81 pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
82  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
83  const pcl::IndicesPtr & indices,
84  float rangeMin,
85  float rangeMax);
86 pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
87  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
88  const pcl::IndicesPtr & indices,
89  float rangeMin,
90  float rangeMax);
91 pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
92  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
93  const pcl::IndicesPtr & indices,
94  float rangeMin,
95  float rangeMax);
96 
97 void RTABMAP_CORE_EXPORT rangeSplitFiltering(
98  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
99  const pcl::IndicesPtr & indices,
100  float range,
101  pcl::IndicesPtr & closeIndices,
102  pcl::IndicesPtr & farIndices);
103 void RTABMAP_CORE_EXPORT rangeSplitFiltering(
104  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
105  const pcl::IndicesPtr & indices,
106  float range,
107  pcl::IndicesPtr & closeIndices,
108  pcl::IndicesPtr & farIndices);
109 void RTABMAP_CORE_EXPORT rangeSplitFiltering(
110  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
111  const pcl::IndicesPtr & indices,
112  float range,
113  pcl::IndicesPtr & closeIndices,
114  pcl::IndicesPtr & farIndices);
115 void RTABMAP_CORE_EXPORT rangeSplitFiltering(
116  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
117  const pcl::IndicesPtr & indices,
118  float range,
119  pcl::IndicesPtr & closeIndices,
120  pcl::IndicesPtr & farIndices);
121 
122 LaserScan RTABMAP_CORE_EXPORT downsample(
123  const LaserScan & cloud,
124  int step);
125 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT downsample(
126  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
127  int step);
128 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT downsample(
129  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
130  int step);
131 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT downsample(
132  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
133  int step);
134 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
135  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
136  int step);
137 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
138  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
139  int step);
140 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT downsample(
141  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
142  int step);
143 
144 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
145  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
146  const pcl::IndicesPtr & indices,
147  float voxelSize);
148 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
149  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
150  const pcl::IndicesPtr & indices,
151  float voxelSize);
152 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
153  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
154  const pcl::IndicesPtr & indices,
155  float voxelSize);
156 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
157  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
158  const pcl::IndicesPtr & indices,
159  float voxelSize);
160 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
161  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
162  const pcl::IndicesPtr & indices,
163  float voxelSize);
164 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
165  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
166  const pcl::IndicesPtr & indices,
167  float voxelSize);
168 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
169  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
170  float voxelSize);
171 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
172  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
173  float voxelSize);
174 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
175  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
176  float voxelSize);
177 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
178  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
179  float voxelSize);
180 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
181  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
182  float voxelSize);
183 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
184  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
185  float voxelSize);
186 
187 inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
188  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
189  float voxelSize)
190 {
191  return voxelize(cloud, voxelSize);
192 }
193 inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
194  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
195  float voxelSize)
196 {
197  return voxelize(cloud, voxelSize);
198 }
199 inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
200  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
201  float voxelSize)
202 {
203  return voxelize(cloud, voxelSize);
204 }
205 
206 
207 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT randomSampling(
208  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
209  int samples);
210 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
211  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
212  int samples);
213 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT randomSampling(
214  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
215  int samples);
216 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
217  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
218  int samples);
219 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT randomSampling(
220  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
221  int samples);
222 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
223  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
224  int samples);
225 
226 
227 pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
228  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
229  const pcl::IndicesPtr & indices,
230  const std::string & axis,
231  float min,
232  float max,
233  bool negative = false);
234 pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
235  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
236  const pcl::IndicesPtr & indices,
237  const std::string & axis,
238  float min,
239  float max,
240  bool negative = false);
241 pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
242  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
243  const pcl::IndicesPtr & indices,
244  const std::string & axis,
245  float min,
246  float max,
247  bool negative = false);
248 pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
249  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
250  const pcl::IndicesPtr & indices,
251  const std::string & axis,
252  float min,
253  float max,
254  bool negative = false);
255 pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
256  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
257  const pcl::IndicesPtr & indices,
258  const std::string & axis,
259  float min,
260  float max,
261  bool negative = false);
262 pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
263  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
264  const pcl::IndicesPtr & indices,
265  const std::string & axis,
266  float min,
267  float max,
268  bool negative = false);
269 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT passThrough(
270  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
271  const std::string & axis,
272  float min,
273  float max,
274  bool negative = false);
275 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT passThrough(
276  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
277  const std::string & axis,
278  float min,
279  float max,
280  bool negative = false);
281 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT passThrough(
282  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
283  const std::string & axis,
284  float min,
285  float max,
286  bool negative = false);
287 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
288  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
289  const std::string & axis,
290  float min,
291  float max,
292  bool negative = false);
293 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
294  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
295  const std::string & axis,
296  float min,
297  float max,
298  bool negative = false);
299 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
300  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
301  const std::string & axis,
302  float min,
303  float max,
304  bool negative = false);
305 
306 pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
307  const pcl::PCLPointCloud2::Ptr & cloud,
308  const pcl::IndicesPtr & indices,
309  const Eigen::Vector4f & min,
310  const Eigen::Vector4f & max,
311  const Transform & transform = Transform::getIdentity(),
312  bool negative = false);
313 pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
314  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
315  const pcl::IndicesPtr & indices,
316  const Eigen::Vector4f & min,
317  const Eigen::Vector4f & max,
318  const Transform & transform = Transform::getIdentity(),
319  bool negative = false);
320 pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
321  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
322  const pcl::IndicesPtr & indices,
323  const Eigen::Vector4f & min,
324  const Eigen::Vector4f & max,
325  const Transform & transform = Transform::getIdentity(),
326  bool negative = false);
327 pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
328  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
329  const pcl::IndicesPtr & indices,
330  const Eigen::Vector4f & min,
331  const Eigen::Vector4f & max,
332  const Transform & transform = Transform::getIdentity(),
333  bool negative = false);
334 pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
335  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
336  const pcl::IndicesPtr & indices,
337  const Eigen::Vector4f & min,
338  const Eigen::Vector4f & max,
339  const Transform & transform = Transform::getIdentity(),
340  bool negative = false);
341 pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
342  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
343  const pcl::IndicesPtr & indices,
344  const Eigen::Vector4f & min,
345  const Eigen::Vector4f & max,
346  const Transform & transform = Transform::getIdentity(),
347  bool negative = false);
348 pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
349  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
350  const pcl::IndicesPtr & indices,
351  const Eigen::Vector4f & min,
352  const Eigen::Vector4f & max,
353  const Transform & transform = Transform::getIdentity(),
354  bool negative = false);
355 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cropBox(
356  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
357  const Eigen::Vector4f & min,
358  const Eigen::Vector4f & max,
359  const Transform & transform = Transform::getIdentity(),
360  bool negative = false);
361 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
362  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
363  const Eigen::Vector4f & min,
364  const Eigen::Vector4f & max,
365  const Transform & transform = Transform::getIdentity(),
366  bool negative = false);
367 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cropBox(
368  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
369  const Eigen::Vector4f & min,
370  const Eigen::Vector4f & max,
371  const Transform & transform = Transform::getIdentity(),
372  bool negative = false);
373 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT cropBox(
374  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
375  const Eigen::Vector4f & min,
376  const Eigen::Vector4f & max,
377  const Transform & transform = Transform::getIdentity(),
378  bool negative = false);
379 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
380  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
381  const Eigen::Vector4f & min,
382  const Eigen::Vector4f & max,
383  const Transform & transform = Transform::getIdentity(),
384  bool negative = false);
385 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
386  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
387  const Eigen::Vector4f & min,
388  const Eigen::Vector4f & max,
389  const Transform & transform = Transform::getIdentity(),
390  bool negative = false);
391 
392 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
393 pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering(
394  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
395  const pcl::IndicesPtr & indices,
396  const Transform & cameraPose,
397  float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
398  float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
399  float nearClipPlaneDistance,
400  float farClipPlaneDistance,
401  bool negative = false);
402 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
403 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
404  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
405  const Transform & cameraPose,
406  float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
407  float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
408  float nearClipPlaneDistance,
409  float farClipPlaneDistance,
410  bool negative = false);
411 //Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
412 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
413  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
414  const Transform & cameraPose,
415  float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
416  float verticalFOV, // in degrees, yfov = atan((image_height/2)/fy)*2
417  float nearClipPlaneDistance,
418  float farClipPlaneDistance,
419  bool negative = false);
420 
421 
422 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
423  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
424 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
425  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
426 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
427  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud);
428 pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
429  const pcl::PCLPointCloud2::Ptr & cloud);
430 
431 
432 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
433  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
434 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
435  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
436 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
437  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
438 
443 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
444  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
445  float radiusSearch,
446  int minNeighborsInRadius);
447 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
448  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
449  float radiusSearch,
450  int minNeighborsInRadius);
451 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
452  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
453  float radiusSearch,
454  int minNeighborsInRadius);
455 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
456  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
457  float radiusSearch,
458  int minNeighborsInRadius);
459 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
460  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
461  float radiusSearch,
462  int minNeighborsInRadius);
463 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
464  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
465  float radiusSearch,
466  int minNeighborsInRadius);
467 
480 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
481  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
482  const pcl::IndicesPtr & indices,
483  float radiusSearch,
484  int minNeighborsInRadius);
485 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
486  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
487  const pcl::IndicesPtr & indices,
488  float radiusSearch,
489  int minNeighborsInRadius);
490 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
491  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
492  const pcl::IndicesPtr & indices,
493  float radiusSearch,
494  int minNeighborsInRadius);
495 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
496  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
497  const pcl::IndicesPtr & indices,
498  float radiusSearch,
499  int minNeighborsInRadius);
500 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
501  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
502  const pcl::IndicesPtr & indices,
503  float radiusSearch,
504  int minNeighborsInRadius);
505 pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
506  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
507  const pcl::IndicesPtr & indices,
508  float radiusSearch,
509  int minNeighborsInRadius);
510 
511 /* for convenience */
512 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
513  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
514  const std::vector<int> & viewpointIndices,
515  const std::map<int, Transform> & viewpoints,
516  float factor=0.01f,
517  float neighborScale=2.0f);
518 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
519  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
520  const std::vector<int> & viewpointIndices,
521  const std::map<int, Transform> & viewpoints,
522  float factor=0.01f,
523  float neighborScale=2.0f);
524 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
525  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
526  const std::vector<int> & viewpointIndices,
527  const std::map<int, Transform> & viewpoints,
528  float factor=0.01f,
529  float neighborScale=2.0f);
530 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
531  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
532  const std::vector<int> & viewpointIndices,
533  const std::map<int, Transform> & viewpoints,
534  float factor=0.01f,
535  float neighborScale=2.0f);
536 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
537  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
538  const std::vector<int> & viewpointIndices,
539  const std::map<int, Transform> & viewpoints,
540  float factor=0.01f,
541  float neighborScale=2.0f);
542 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
543  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
544  const std::vector<int> & viewpointIndices,
545  const std::map<int, Transform> & viewpoints,
546  float factor=0.01f,
547  float neighborScale=2.0f);
548 
561 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
562  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
563  const pcl::IndicesPtr & indices,
564  const std::vector<int> & viewpointIndices,
565  const std::map<int, Transform> & viewpoints,
566  float factor=0.01f,
567  float neighborScale=2.0f);
568 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
569  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
570  const pcl::IndicesPtr & indices,
571  const std::vector<int> & viewpointIndices,
572  const std::map<int, Transform> & viewpoints,
573  float factor=0.01f,
574  float neighborScale=2.0f);
575 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
576  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
577  const pcl::IndicesPtr & indices,
578  const std::vector<int> & viewpointIndices,
579  const std::map<int, Transform> & viewpoints,
580  float factor=0.01f,
581  float neighborScale=2.0f);
582 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
583  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
584  const pcl::IndicesPtr & indices,
585  const std::vector<int> & viewpointIndices,
586  const std::map<int, Transform> & viewpoints,
587  float factor=0.01f,
588  float neighborScale=2.0f);
589 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
590  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
591  const pcl::IndicesPtr & indices,
592  const std::vector<int> & viewpointIndices,
593  const std::map<int, Transform> & viewpoints,
594  float factor=0.01f,
595  float neighborScale=2.0f);
596 pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
597  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
598  const pcl::IndicesPtr & indices,
599  const std::vector<int> & viewpointIndices,
600  const std::map<int, Transform> & viewpoints,
601  float factor=0.01f,
602  float neighborScale=2.0f);
603 
607 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
608  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
609  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
610  float radiusSearch,
611  int minNeighborsInRadius = 1);
612 
622 pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
623  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
624  const pcl::IndicesPtr & indices,
625  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
626  const pcl::IndicesPtr & substractIndices,
627  float radiusSearch,
628  int minNeighborsInRadius = 1);
629 
633 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
634  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
635  const pcl::PointCloud<pcl::PointNormal>::Ptr & substractCloud,
636  float radiusSearch,
637  float maxAngle = M_PI/4.0f,
638  int minNeighborsInRadius = 1);
639 
649 pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
650  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
651  const pcl::IndicesPtr & indices,
652  const pcl::PointCloud<pcl::PointNormal>::Ptr & substractCloud,
653  const pcl::IndicesPtr & substractIndices,
654  float radiusSearch,
655  float maxAngle = M_PI/4.0f,
656  int minNeighborsInRadius = 1);
657 
661 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
662  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
663  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & substractCloud,
664  float radiusSearch,
665  float maxAngle = M_PI/4.0f,
666  int minNeighborsInRadius = 1);
667 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
668  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
669  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & substractCloud,
670  float radiusSearch,
671  float maxAngle = M_PI/4.0f,
672  int minNeighborsInRadius = 1);
673 
683 pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
684  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
685  const pcl::IndicesPtr & indices,
686  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & substractCloud,
687  const pcl::IndicesPtr & substractIndices,
688  float radiusSearch,
689  float maxAngle = M_PI/4.0f,
690  int minNeighborsInRadius = 1);
691 pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
692  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
693  const pcl::IndicesPtr & indices,
694  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & substractCloud,
695  const pcl::IndicesPtr & substractIndices,
696  float radiusSearch,
697  float maxAngle = M_PI/4.0f,
698  int minNeighborsInRadius = 1);
699 
709 pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
710  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
711  const pcl::IndicesPtr & indices,
712  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
713  const pcl::IndicesPtr & substractIndices,
714  float radiusSearchRatio = 0.01,
715  int minNeighborsInRadius = 1,
716  const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
717 
727 pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
728  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
729  const pcl::IndicesPtr & indices,
730  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & substractCloud,
731  const pcl::IndicesPtr & substractIndices,
732  float radiusSearchRatio = 0.01,
733  float maxAngle = M_PI/4.0f,
734  int minNeighborsInRadius = 1,
735  const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
736 
737 
742 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
743  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
744  float angleMax,
745  const Eigen::Vector4f & normal,
746  int normalKSearch,
747  const Eigen::Vector4f & viewpoint,
748  float groundNormalsUp = 0.0f);
749 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
750  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
751  float angleMax,
752  const Eigen::Vector4f & normal,
753  int normalKSearch,
754  const Eigen::Vector4f & viewpoint,
755  float groundNormalsUp = 0.0f);
756 
773 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
774  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
775  const pcl::IndicesPtr & indices,
776  float angleMax,
777  const Eigen::Vector4f & normal,
778  int normalKSearch,
779  const Eigen::Vector4f & viewpoint,
780  float groundNormalsUp = 0.0f);
781 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
782  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
783  const pcl::IndicesPtr & indices,
784  float angleMax,
785  const Eigen::Vector4f & normal,
786  int normalKSearch,
787  const Eigen::Vector4f & viewpoint,
788  float groundNormalsUp = 0.0f);
789 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
790  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
791  const pcl::IndicesPtr & indices,
792  float angleMax,
793  const Eigen::Vector4f & normal,
794  int normalKSearch,
795  const Eigen::Vector4f & viewpoint,
796  float groundNormalsUp = 0.0f);
797 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
798  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
799  const pcl::IndicesPtr & indices,
800  float angleMax,
801  const Eigen::Vector4f & normal,
802  int normalKSearch,
803  const Eigen::Vector4f & viewpoint,
804  float groundNormalsUp = 0.0f);
805 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
806  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
807  const pcl::IndicesPtr & indices,
808  float angleMax,
809  const Eigen::Vector4f & normal,
810  int normalKSearch,
811  const Eigen::Vector4f & viewpoint,
812  float groundNormalsUp = 0.0f);
813 pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
814  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
815  const pcl::IndicesPtr & indices,
816  float angleMax,
817  const Eigen::Vector4f & normal,
818  int normalKSearch,
819  const Eigen::Vector4f & viewpoint,
820  float groundNormalsUp = 0.0f);
821 
825 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
826  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
827  float clusterTolerance,
828  int minClusterSize,
829  int maxClusterSize = std::numeric_limits<int>::max(),
830  int * biggestClusterIndex = 0);
831 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
832  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
833  float clusterTolerance,
834  int minClusterSize,
835  int maxClusterSize = std::numeric_limits<int>::max(),
836  int * biggestClusterIndex = 0);
837 
850 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
851  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
852  const pcl::IndicesPtr & indices,
853  float clusterTolerance,
854  int minClusterSize,
855  int maxClusterSize = std::numeric_limits<int>::max(),
856  int * biggestClusterIndex = 0);
857 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
858  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
859  const pcl::IndicesPtr & indices,
860  float clusterTolerance,
861  int minClusterSize,
862  int maxClusterSize = std::numeric_limits<int>::max(),
863  int * biggestClusterIndex = 0);
864 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
865  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
866  const pcl::IndicesPtr & indices,
867  float clusterTolerance,
868  int minClusterSize,
869  int maxClusterSize = std::numeric_limits<int>::max(),
870  int * biggestClusterIndex = 0);
871 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
872  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
873  const pcl::IndicesPtr & indices,
874  float clusterTolerance,
875  int minClusterSize,
876  int maxClusterSize = std::numeric_limits<int>::max(),
877  int * biggestClusterIndex = 0);
878 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
879  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
880  const pcl::IndicesPtr & indices,
881  float clusterTolerance,
882  int minClusterSize,
883  int maxClusterSize = std::numeric_limits<int>::max(),
884  int * biggestClusterIndex = 0);
885 std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
886  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
887  const pcl::IndicesPtr & indices,
888  float clusterTolerance,
889  int minClusterSize,
890  int maxClusterSize = std::numeric_limits<int>::max(),
891  int * biggestClusterIndex = 0);
892 
893 pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
894  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
895  const pcl::IndicesPtr & indices,
896  bool negative);
897 pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
898  const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
899  const pcl::IndicesPtr & indices,
900  bool negative);
901 pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
902  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
903  const pcl::IndicesPtr & indices,
904  bool negative);
905 pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
906  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
907  const pcl::IndicesPtr & indices,
908  bool negative);
909 pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
910  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
911  const pcl::IndicesPtr & indices,
912  bool negative);
913 pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
914  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
915  const pcl::IndicesPtr & indices,
916  bool negative);
917 
918 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT extractIndices(
919  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
920  const pcl::IndicesPtr & indices,
921  bool negative,
922  bool keepOrganized);
923 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT extractIndices(
924  const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
925  const pcl::IndicesPtr & indices,
926  bool negative,
927  bool keepOrganized);
928 // PCL default lacks of pcl::PointNormal type support
929 //pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
930 // const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
931 // const pcl::IndicesPtr & indices,
932 // bool negative,
933 // bool keepOrganized);
934 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
935  const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
936  const pcl::IndicesPtr & indices,
937  bool negative,
938  bool keepOrganized);
939 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT extractIndices(
940  const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
941  const pcl::IndicesPtr & indices,
942  bool negative,
943  bool keepOrganized);
944 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
945  const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
946  const pcl::IndicesPtr & indices,
947  bool negative,
948  bool keepOrganized);
949 
950 pcl::IndicesPtr extractPlane(
951  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
952  float distanceThreshold,
953  int maxIterations = 100,
954  pcl::ModelCoefficients * coefficientsOut = 0);
955 pcl::IndicesPtr extractPlane(
956  const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
957  const pcl::IndicesPtr & indices,
958  float distanceThreshold,
959  int maxIterations = 100,
960  pcl::ModelCoefficients * coefficientsOut = 0);
961 
962 } // namespace util3d
963 } // namespace rtabmap
964 
965 #endif /* UTIL3D_FILTERING_H_ */
glm::min
GLM_FUNC_DECL genType min(genType const &x, genType const &y)
rtabmap::util3d::cropBox
pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(const pcl::PCLPointCloud2::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:974
glm::axis
GLM_FUNC_DECL detail::tvec3< T, P > axis(detail::tquat< T, P > const &x)
rtabmap::util3d::removeNaNNormalsFromPointCloud
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
Definition: util3d_filtering.cpp:1218
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::util3d::passThrough
pcl::IndicesPtr RTABMAP_CORE_EXPORT 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:878
rtabmap::RTABMAP_DEPRECATED
RTABMAP_DEPRECATED(typedef SensorData Image, "rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
rtabmap::util3d::voxelize
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
Definition: util3d_filtering.cpp:761
Transform.h
rtabmap::util3d::normalFiltering
pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
Definition: util3d_filtering.cpp:2086
rtabmap::util3d::commonFiltering
LaserScan RTABMAP_CORE_EXPORT 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, float groundNormalsUp=0.0f)
Definition: util3d_filtering.cpp:74
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:2506
rtabmap::util3d::uniformSampling
pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
Definition: util3d_filtering.h:187
rtabmap::util3d::proportionalRadiusFiltering
pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
Definition: util3d_filtering.cpp:1338
glm::max
GLM_FUNC_DECL genType max(genType const &x, genType const &y)
rtabmap::util3d::downsample
LaserScan RTABMAP_CORE_EXPORT downsample(const LaserScan &cloud, int step)
Definition: util3d_filtering.cpp:546
rtabmap::util3d::extractIndices
pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
Definition: util3d_filtering.cpp:2447
rtabmap::util3d::subtractFiltering
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT subtractFiltering(const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &substractCloud, float radiusSearch, int minNeighborsInRadius=1)
Definition: util3d_filtering.cpp:1571
rtabmap::util3d::rangeSplitFiltering
void RTABMAP_CORE_EXPORT rangeSplitFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
Definition: util3d_filtering.cpp:509
M_PI
#define M_PI
Definition: tango-gl/include/tango-gl/util.h:66
rtabmap::util3d::randomSampling
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT randomSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
Definition: util3d_filtering.cpp:830
rtabmap::Transform
Definition: Transform.h:41
LaserScan.h
rtabmap::util3d::removeNaNFromPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
Definition: util3d_filtering.cpp:1150
rtabmap::util3d::rangeFiltering
LaserScan RTABMAP_CORE_EXPORT rangeFiltering(const LaserScan &scan, float rangeMin, float rangeMax)
Definition: util3d_filtering.cpp:347
rtabmap::util3d::frustumFiltering
pcl::IndicesPtr RTABMAP_CORE_EXPORT 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:1098
rtabmap::util3d::extractClusters
std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT 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:2299
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::util3d::radiusFiltering
pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
Definition: util3d_filtering.cpp:1235
rtabmap::util3d::subtractAdaptiveFiltering
pcl::IndicesPtr RTABMAP_CORE_EXPORT 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:1861

rtabmap
Author(s): Mathieu Labbe
autogenerated on Sun Dec 1 2024 03:42:59