util3d_surface.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * Redistributions in binary form must reproduce the above copyright
      notice, this list of conditions and the following disclaimer in the
      documentation and/or other materials provided with the distribution.
    * Neither the name of the Universite de Sherbrooke nor the
      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#ifndef UTIL3D_SURFACE_H_
#define UTIL3D_SURFACE_H_

#include <rtabmap/core/RtabmapExp.h>

#include <pcl/PolygonMesh.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/TextureMesh.h>
#include <pcl/pcl_base.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/CameraModel.h>
#include <rtabmap/core/ProgressState.h>
#include <rtabmap/core/LaserScan.h>
#include <set>
#include <list>

namespace rtabmap
{

class Memory;
class DBDriver;

namespace util3d
{

void RTABMAP_EXP createPolygonIndexes(
                const std::vector<pcl::Vertices> & polygons,
                int cloudSize,
                std::vector<std::set<int> > & neighborPolygons,
                std::vector<std::set<int> > & vertexPolygons);

std::list<std::list<int> > RTABMAP_EXP clusterPolygons(
                const std::vector<std::set<int> > & neighborPolygons,
                int minClusterSize = 0);

std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                double angleTolerance,
                bool quad,
                int trianglePixelSize,
                const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                double angleTolerance = M_PI/16,
                bool quad=true,
                int trianglePixelSize = 2,
                const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
std::vector<pcl::Vertices> RTABMAP_EXP organizedFastMesh(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                double angleTolerance = M_PI/16,
                bool quad=true,
                int trianglePixelSize = 2,
                const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));

void RTABMAP_EXP appendMesh(
                pcl::PointCloud<pcl::PointXYZRGBNormal> & cloudA,
                std::vector<pcl::Vertices> & polygonsA,
                const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloudB,
                const std::vector<pcl::Vertices> & polygonsB);
void RTABMAP_EXP appendMesh(
                pcl::PointCloud<pcl::PointXYZRGB> & cloudA,
                std::vector<pcl::Vertices> & polygonsA,
                const pcl::PointCloud<pcl::PointXYZRGB> & cloudB,
                const std::vector<pcl::Vertices> & polygonsB);

// return map from new to old polygon indices
std::vector<int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
                const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
                const std::vector<pcl::Vertices> & polygons,
                pcl::PointCloud<pcl::PointXYZRGBNormal> & outputCloud,
                std::vector<pcl::Vertices> & outputPolygons);
std::vector<int> RTABMAP_EXP filterNotUsedVerticesFromMesh(
                const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
                const std::vector<pcl::Vertices> & polygons,
                pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,
                std::vector<pcl::Vertices> & outputPolygons);
std::vector<int> RTABMAP_EXP filterNaNPointsFromMesh(
                const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
                const std::vector<pcl::Vertices> & polygons,
                pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,
                std::vector<pcl::Vertices> & outputPolygons);

std::vector<pcl::Vertices> RTABMAP_EXP filterCloseVerticesFromMesh(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud,
                const std::vector<pcl::Vertices> & polygons,
                float radius,
                float angle,
                bool keepLatestInRadius);

std::vector<pcl::Vertices> RTABMAP_EXP filterInvalidPolygons(
                const std::vector<pcl::Vertices> & polygons);

pcl::PolygonMesh::Ptr RTABMAP_EXP createMesh(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloudWithNormals,
                float gp3SearchRadius = 0.025,
                float gp3Mu = 2.5,
                int gp3MaximumNearestNeighbors = 100,
                float gp3MaximumSurfaceAngle = M_PI/4,
                float gp3MinimumAngle = M_PI/18,
                float gp3MaximumAngle = 2*M_PI/3,
                bool gp3NormalConsistency = true);

pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
                const pcl::PolygonMesh::Ptr & mesh,
                const std::map<int, Transform> & poses,
                const std::map<int, CameraModel> & cameraModels,
                const std::map<int, cv::Mat> & cameraDepths,
                float maxDistance = 0.0f, // max camera distance to polygon to apply texture
                float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
                float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
                int minClusterSize = 50, // minimum size of polygons clusters textured
                const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
                const ProgressState * state = 0,
                std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);
pcl::TextureMesh::Ptr RTABMAP_EXP createTextureMesh(
                const pcl::PolygonMesh::Ptr & mesh,
                const std::map<int, Transform> & poses,
                const std::map<int, std::vector<CameraModel> > & cameraModels,
                const std::map<int, cv::Mat> & cameraDepths,
                float maxDistance = 0.0f, // max camera distance to polygon to apply texture
                float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
                float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
                int minClusterSize = 50, // minimum size of polygons clusters textured
                const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
                const ProgressState * state = 0,
                std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0);

void RTABMAP_EXP cleanTextureMesh(
                pcl::TextureMesh & textureMesh,
                int minClusterSize);

pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
                const std::list<pcl::TextureMesh::Ptr> & meshes);

void RTABMAP_EXP concatenateTextureMaterials(
                pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);

std::vector<std::vector<unsigned int> > RTABMAP_EXP convertPolygonsFromPCL(
                const std::vector<pcl::Vertices> & polygons);
std::vector<std::vector<std::vector<unsigned int> > > RTABMAP_EXP convertPolygonsFromPCL(
                const std::vector<std::vector<pcl::Vertices> > & polygons);
std::vector<pcl::Vertices> RTABMAP_EXP convertPolygonsToPCL(
                const std::vector<std::vector<unsigned int> > & polygons);
std::vector<std::vector<pcl::Vertices> > RTABMAP_EXP convertPolygonsToPCL(
                const std::vector<std::vector<std::vector<unsigned int> > > & tex_polygons);

pcl::TextureMesh::Ptr RTABMAP_EXP assembleTextureMesh(
                const cv::Mat & cloudMat,
                const std::vector<std::vector<std::vector<unsigned int> > > & polygons,
#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
                const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
#else
                const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
#endif
                cv::Mat & textures,
                bool mergeTextures = false);

pcl::PolygonMesh::Ptr RTABMAP_EXP assemblePolygonMesh(
                const cv::Mat & cloudMat,
                const std::vector<std::vector<unsigned int> > & polygons);

cv::Mat RTABMAP_EXP mergeTextures(
                pcl::TextureMesh & mesh,
                const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
                const std::map<int, CameraModel> & calibrations, // Should match images
                const Memory * memory = 0,             // Should be set if images are not set
                const DBDriver * dbDriver = 0,         // Should be set if images and memory are not set
                int textureSize = 4096,
                int textureCount = 1,
                const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), // needed for parameters below
                bool gainCompensation = true,
                float gainBeta = 10.0f,
                bool gainRGB = true,                 //Do gain compensation on each channel
                bool blending = true,
                int blendingDecimation = 0,          //0=auto depending on projected polygon size and texture size
                int brightnessContrastRatioLow = 0,  //0=disabled, values between 0 and 100
                int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
                bool exposureFusion = false,         //Exposure fusion can be used only with OpenCV3
                const ProgressState * state = 0);
cv::Mat RTABMAP_EXP mergeTextures(
                pcl::TextureMesh & mesh,
                const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
                const std::map<int, std::vector<CameraModel> > & calibrations, // Should match images
                const Memory * memory = 0,             // Should be set if images are not set
                const DBDriver * dbDriver = 0,         // Should be set if images and memory are not set
                int textureSize = 4096,
                int textureCount = 1,
                const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), // needed for parameters below
                bool gainCompensation = true,
                float gainBeta = 10.0f,
                bool gainRGB = true,                 //Do gain compensation on each channel
                bool blending = true,
                int blendingDecimation = 0,          //0=auto depending on projected polygon size and texture size
                int brightnessContrastRatioLow = 0,  //0=disabled, values between 0 and 100
                int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
                bool exposureFusion = false,         //Exposure fusion can be used only with OpenCV3
                const ProgressState * state = 0);

void RTABMAP_EXP fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);

cv::Mat RTABMAP_EXP computeNormals(
                const cv::Mat & laserScan,
                int searchK,
                float searchRadius);
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                int searchK = 20,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                int searchK = 20,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
                int searchK = 20,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                int searchK = 20,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                int searchK = 20,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                int searchK = 20,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));

pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals2D(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                int searchK = 5,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals2D(
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
                int searchK = 5,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals2D(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                int searchK = 5,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals2D(
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
                int searchK = 5,
                float searchRadius = 0.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));

pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                float maxDepthChangeFactor = 0.02f,
                float normalSmoothingSize = 10.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float maxDepthChangeFactor = 0.02f,
                float normalSmoothingSize = 10.0f,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));

float RTABMAP_EXP computeNormalsComplexity(
                const LaserScan & scan,
                cv::Mat * pcaEigenVectors = 0,
                cv::Mat * pcaEigenValues = 0);
float RTABMAP_EXP computeNormalsComplexity(
                const pcl::PointCloud<pcl::Normal> & normals,
                bool is2d = false,
                cv::Mat * pcaEigenVectors = 0,
                cv::Mat * pcaEigenValues = 0);
float RTABMAP_EXP computeNormalsComplexity(
                const pcl::PointCloud<pcl::PointNormal> & cloud,
                bool is2d = false,
                cv::Mat * pcaEigenVectors = 0,
                cv::Mat * pcaEigenValues = 0);
float RTABMAP_EXP computeNormalsComplexity(
                const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
                bool is2d = false,
                cv::Mat * pcaEigenVectors = 0,
                cv::Mat * pcaEigenValues = 0);

pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                float searchRadius = 0.0f,
                int polygonialOrder = 2,
                int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
                float upsamplingRadius = 0.0f,   // SAMPLE_LOCAL_PLANE
                float upsamplingStep = 0.0f,     // SAMPLE_LOCAL_PLANE
                int pointDensity = 0,            // RANDOM_UNIFORM_DENSITY
                float dilationVoxelSize = 1.0f,  // VOXEL_GRID_DILATION
                int dilationIterations = 0);     // VOXEL_GRID_DILATION
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float searchRadius = 0.0f,
                int polygonialOrder = 2,
                int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
                float upsamplingRadius = 0.0f,   // SAMPLE_LOCAL_PLANE
                float upsamplingStep = 0.0f,     // SAMPLE_LOCAL_PLANE
                int pointDensity = 0,            // RANDOM_UNIFORM_DENSITY
                float dilationVoxelSize = 1.0f,  // VOXEL_GRID_DILATION
                int dilationIterations = 0);     // VOXEL_GRID_DILATION

LaserScan RTABMAP_EXP adjustNormalsToViewPoint(
                const LaserScan & scan,
                const Eigen::Vector3f & viewpoint,
                bool forceGroundNormalsUp);
void RTABMAP_EXP adjustNormalsToViewPoint(
                pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
                bool forceGroundNormalsUp = false);
void RTABMAP_EXP adjustNormalsToViewPoint(
                pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
                bool forceGroundNormalsUp = false);
void RTABMAP_EXP adjustNormalsToViewPoints(
                const std::map<int, Transform> & poses,
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
                const std::vector<int> & rawCameraIndices,
                pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
void RTABMAP_EXP adjustNormalsToViewPoints(
                const std::map<int, Transform> & poses,
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
                const std::vector<int> & rawCameraIndices,
                pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);

pcl::PolygonMesh::Ptr RTABMAP_EXP meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor);

template<typename pointT>
std::vector<pcl::Vertices> normalizePolygonsSide(
                const pcl::PointCloud<pointT> & cloud,
                const std::vector<pcl::Vertices> & polygons,
                const pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));

template<typename pointRGBT>
void denseMeshPostProcessing(
                pcl::PolygonMeshPtr & mesh,
                float meshDecimationFactor = 0.0f, // value between 0 and 1, 0=disabled
                int maximumPolygons = 0,           // 0=disabled
                const typename pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), // A RGB point cloud used to transfer colors back to mesh (needed for parameters below)
                float transferColorRadius = 0.05f, // <0=disabled, 0=nearest color
                bool coloredOutput = true,         // Not used anymore, output is colored if transferColorRadius>=0
                bool cleanMesh = true,             // Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)
                int minClusterSize = 50,           // Remove small polygon clusters after the mesh has been cleaned (0=disabled)
                ProgressState * progressState = 0);

} // namespace util3d
} // namespace rtabmap

#include "rtabmap/core/impl/util3d_surface.hpp"

#endif /* UTIL3D_SURFACE_H_ */