#include <rtabmap/core/rtabmap_core_export.h>#include <pcl/point_cloud.h>#include <pcl/point_types.h>#include <rtabmap/core/Transform.h>#include <opencv2/core/core.hpp>
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Namespaces | |
| rtabmap | |
| rtabmap::util3d | |
Functions | |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal) |
| void RTABMAP_CORE_EXPORT | rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal) |
| int RTABMAP_CORE_EXPORT | rtabmap::util3d::getCorrespondencesCount (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance) |
| Transform RTABMAP_CORE_EXPORT | 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) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZI > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false) |
| Transform RTABMAP_CORE_EXPORT | 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) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZINormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false) |
| Transform RTABMAP_CORE_EXPORT | 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, cv::Mat *variance=0) |
| Transform RTABMAP_CORE_EXPORT | rtabmap::util3d::transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2) |