ReUseX::io Namespace Reference

Classes
class	RTABMapDatabase
	Core database class that wraps RTABMap's database functionality. More...

Functions
auto	getPlanes (CloudLConstPtr planes, CloudNConstPtr normals, CloudLocConstPtr locations) -> std::tuple< EigenVectorContainer< double, 4 >, EigenVectorContainer< double, 3 >, std::vector< IndicesPtr > >
	Extract plane data from labeled point clouds.
bool	save (std::filesystem::path const &output_path, std::vector< pcl::ModelCoefficients > const &model_coefficients, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > const &centroids, std::vector< std::shared_ptr< pcl::Indices > > const &inlier_indices)
	Save plane data to file.
bool	read (std::filesystem::path const &input_path, std::vector< pcl::ModelCoefficients > &model_coefficients, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > &centroids, std::vector< std::shared_ptr< pcl::Indices > > &inlier_indices)
	Read plane data from file.
auto	configure_rhino_model () -> std::unique_ptr< ONX_Model >
auto	create_rhino_layers (ONX_Model &model, const std::set< std::string > &layer_names, std::optional< std::vector< ON_Color > > layer_colors={}, const ON_Layer *base_layer=nullptr) -> std::vector< int >
auto	make_rhino_pointcloud (CloudConstPtr cloud) -> std::unique_ptr< ON_PointCloud >
auto	save_rhino_pointcloud (CloudConstPtr pcl_cloud, CloudLConstPtr pcl_labels) -> std::unique_ptr< ONX_Model >
auto	import_rtabmap_database (const std::filesystem::path &database_path, float resolution, float min_distance, float max_distance, float sampling_factor) -> std::tuple< CloudPtr, CloudNPtr, CloudLPtr >
bool	checkRTABMapDatabase (std::filesystem::path const &dbPath)
bool	initRTABMapDatabase (std::filesystem::path const &dbPath)
bool	writeLabelsToRTABMapDatabase (std::filesystem::path const &dbPath, cv::Mat const &labels, std::optional< size_t > id=std::nullopt)
cv::Mat	readLabelsFromRTABMapDatabase (std::filesystem::path const &dbPath, size_t id)

Function Documentation

checkRTABMapDatabase()

bool ReUseX::io::checkRTABMapDatabase

(

std::filesystem::path const &

dbPath

)

configure_rhino_model()

auto ReUseX::io::configure_rhino_model

(

)

-> std::unique_ptr< ONX_Model >

create_rhino_layers()

auto ReUseX::io::create_rhino_layers	(	ONX_Model &	model,
		const std::set< std::string > &	layer_names,
		std::optional< std::vector< ON_Color > >	layer_colors = {},
		const ON_Layer *	base_layer = nullptr ) -> std::vector< int >

getPlanes()

auto ReUseX::io::getPlanes	(	CloudLConstPtr	planes,
		CloudNConstPtr	normals,
		CloudLocConstPtr	locations ) -> std::tuple< EigenVectorContainer< double, 4 >, EigenVectorContainer< double, 3 >, std::vector< IndicesPtr > >

Extract plane data from labeled point clouds.

Parameters

planes	Labeled point cloud where labels indicate plane IDs.
normals	Point cloud containing plane normals.
locations	Point cloud containing plane centroid locations.

Returns

Tuple of (plane coefficients, centroids, inlier indices).

import_rtabmap_database()

auto ReUseX::io::import_rtabmap_database	(	const std::filesystem::path &	database_path,
		float	resolution,
		float	min_distance,
		float	max_distance,
		float	sampling_factor ) -> std::tuple< CloudPtr, CloudNPtr, CloudLPtr >

initRTABMapDatabase()

bool ReUseX::io::initRTABMapDatabase

(

std::filesystem::path const &

dbPath

)

make_rhino_pointcloud()

auto ReUseX::io::make_rhino_pointcloud

(

CloudConstPtr

cloud

)

-> std::unique_ptr< ON_PointCloud >

read()

bool ReUseX::io::read ( std::filesystem::path const & input_path, std::vector< pcl::ModelCoefficients > & model_coefficients, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > & centroids, std::vector< std::shared_ptr< pcl::Indices > > & inlier_indices )

nodiscard

Read plane data from file.

Parameters

input_path	Path to input file.
model_coefficients	Output plane model coefficients.
centroids	Output plane centroids.
inlier_indices	Output indices of points belonging to each plane.

Returns

True if read was successful, false otherwise.

readLabelsFromRTABMapDatabase()

cv::Mat ReUseX::io::readLabelsFromRTABMapDatabase	(	std::filesystem::path const &	dbPath,
		size_t	id )

save()

bool ReUseX::io::save ( std::filesystem::path const & output_path, std::vector< pcl::ModelCoefficients > const & model_coefficients, std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > const & centroids, std::vector< std::shared_ptr< pcl::Indices > > const & inlier_indices )

nodiscard

Save plane data to file.

Parameters

output_path	Path to output file.
model_coefficients	Plane model coefficients.
centroids	Plane centroids.
inlier_indices	Indices of points belonging to each plane.

Returns

True if save was successful, false otherwise.

save_rhino_pointcloud()

auto ReUseX::io::save_rhino_pointcloud ( CloudConstPtr pcl_cloud, CloudLConstPtr pcl_labels ) -> std::unique_ptr< ONX_Model >

nodiscard

writeLabelsToRTABMapDatabase()

bool ReUseX::io::writeLabelsToRTABMapDatabase	(	std::filesystem::path const &	dbPath,
		cv::Mat const &	labels,
		std::optional< size_t >	id = std::nullopt )