Namespaces | Functions
util3d_filtering.h File Reference
#include <rtabmap/core/RtabmapExp.h>
#include <rtabmap/core/Transform.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <pcl/ModelCoefficients.h>
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Namespaces

namespace  rtabmap
namespace  rtabmap::util3d

Functions

cv::Mat RTABMAP_EXP rtabmap::util3d::downsample (const cv::Mat &cloud, int step)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int step)
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr
RTABMAP_EXP 
rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int step)
std::vector< pcl::IndicesPtr >
RTABMAP_EXP 
rtabmap::util3d::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 
rtabmap::util3d::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 
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.
std::vector< pcl::IndicesPtr >
RTABMAP_EXP 
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)
std::vector< pcl::IndicesPtr >
RTABMAP_EXP 
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)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr
RTABMAP_EXP 
rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
pcl::PointCloud
< pcl::PointXYZRGBNormal >
::Ptr RTABMAP_EXP 
rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
pcl::IndicesPtr rtabmap::util3d::extractPlane (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
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)
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::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 
rtabmap::util3d::frustumFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint)
pcl::IndicesPtr RTABMAP_EXP 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.
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::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 
rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::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 rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
pcl::IndicesPtr RTABMAP_EXP rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr
RTABMAP_EXP 
rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int samples)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr
RTABMAP_EXP 
rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)
pcl::PointCloud
< pcl::PointNormal >::Ptr
RTABMAP_EXP 
rtabmap::util3d::removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
pcl::PointCloud
< pcl::PointXYZRGBNormal >
::Ptr RTABMAP_EXP 
rtabmap::util3d::removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud)
pcl::IndicesPtr RTABMAP_EXP 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))
pcl::IndicesPtr RTABMAP_EXP 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))
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr
RTABMAP_EXP 
rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &substractCloud, float radiusSearch, int minNeighborsInRadius=1)
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::PointCloud
< pcl::PointNormal >::Ptr
RTABMAP_EXP 
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)
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::PointCloud
< pcl::PointXYZRGBNormal >
::Ptr RTABMAP_EXP 
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)
pcl::IndicesPtr RTABMAP_EXP 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)
pcl::PointCloud< pcl::PointXYZ >
::Ptr 
rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr 
rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
pcl::PointCloud
< pcl::PointXYZRGBNormal >
::Ptr 
rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud
< pcl::PointNormal >::Ptr
RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr
RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud
< pcl::PointXYZRGBNormal >
::Ptr RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
pcl::PointCloud< pcl::PointXYZ >
::Ptr RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
pcl::PointCloud
< pcl::PointNormal >::Ptr
RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float voxelSize)
pcl::PointCloud
< pcl::PointXYZRGB >::Ptr
RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
pcl::PointCloud
< pcl::PointXYZRGBNormal >
::Ptr RTABMAP_EXP 
rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)


rtabmap
Author(s): Mathieu Labbe
autogenerated on Sat Jul 23 2016 11:44:30