util3d_filtering.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.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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*/

#ifndef UTIL3D_FILTERING_H_
#define UTIL3D_FILTERING_H_

#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>

namespace rtabmap
{

namespace util3d
{

cv::Mat RTABMAP_EXP downsample(
                const cv::Mat & cloud,
                int step);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP downsample(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                int step);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP downsample(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                int step);

pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float voxelSize);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float voxelSize);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float voxelSize);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float voxelSize);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                float voxelSize);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                float voxelSize);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                float voxelSize);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                float voxelSize);

inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                float voxelSize)
{
        return voxelize(cloud, voxelSize);
}
inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                float voxelSize)
{
        return voxelize(cloud, voxelSize);
}
inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                float voxelSize)
{
        return voxelize(cloud, voxelSize);
}


pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP randomSampling(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                int samples);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP randomSampling(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                int samples);


pcl::IndicesPtr RTABMAP_EXP 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 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 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 passThrough(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const std::string & axis,
                float min,
                float max,
                bool negative = false);

//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
pcl::IndicesPtr RTABMAP_EXP frustumFiltering(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const Transform & cameraPose,
                float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
                float verticalFOV,   // in degrees, yfov = atan((image_height/2)/fy)*2
                float nearClipPlaneDistance,
                float farClipPlaneDistance,
                bool negative = false);
//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP frustumFiltering(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const Transform & cameraPose,
                float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
                float verticalFOV,   // in degrees, yfov = atan((image_height/2)/fy)*2
                float nearClipPlaneDistance,
                float farClipPlaneDistance,
                bool negative = false);
//Note: This assumes a coordinate system where X is forward, * Y is up, and Z is right.
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP frustumFiltering(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const Transform & cameraPose,
                float horizontalFOV, // in degrees, xfov = atan((image_width/2)/fx)*2
                float verticalFOV,   // in degrees, yfov = atan((image_height/2)/fy)*2
                float nearClipPlaneDistance,
                float farClipPlaneDistance,
                bool negative = false);


pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP removeNaNFromPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);


pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP removeNaNNormalsFromPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);

pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                float radiusSearch,
                int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                float radiusSearch,
                int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                float radiusSearch,
                int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                float radiusSearch,
                int minNeighborsInRadius);

pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float radiusSearch,
                int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float radiusSearch,
                int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float radiusSearch,
                int minNeighborsInRadius);
pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float radiusSearch,
                int minNeighborsInRadius);

pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP subtractFiltering(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & substractCloud,
                float radiusSearch,
                int minNeighborsInRadius = 1);

pcl::IndicesPtr RTABMAP_EXP 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 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 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 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 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::IndicesPtr RTABMAP_EXP 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 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::IndicesPtr RTABMAP_EXP normalFiltering(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                float angleMax,
                const Eigen::Vector4f & normal,
                int normalKSearch,
                const Eigen::Vector4f & viewpoint);
pcl::IndicesPtr RTABMAP_EXP normalFiltering(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                float angleMax,
                const Eigen::Vector4f & normal,
                int normalKSearch,
                const Eigen::Vector4f & viewpoint);

pcl::IndicesPtr RTABMAP_EXP normalFiltering(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float angleMax,
                const Eigen::Vector4f & normal,
                int normalKSearch,
                const Eigen::Vector4f & viewpoint);
pcl::IndicesPtr RTABMAP_EXP 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 normalFiltering(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float angleMax,
                const Eigen::Vector4f & normal,
                int normalKSearch,
                const Eigen::Vector4f & viewpoint);

std::vector<pcl::IndicesPtr> RTABMAP_EXP 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 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 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);
std::vector<pcl::IndicesPtr> RTABMAP_EXP 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 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 extractIndices(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                bool negative);
pcl::IndicesPtr RTABMAP_EXP extractIndices(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                bool negative);
pcl::IndicesPtr RTABMAP_EXP extractIndices(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                bool negative);

pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP extractIndices(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                bool negative,
                bool keepOrganized);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP extractIndices(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                bool negative,
                bool keepOrganized);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP extractIndices(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                bool negative,
                bool keepOrganized);

pcl::IndicesPtr extractPlane(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                float distanceThreshold,
                int maxIterations = 100,
                pcl::ModelCoefficients * coefficientsOut = 0);
pcl::IndicesPtr extractPlane(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                float distanceThreshold,
                int maxIterations = 100,
                pcl::ModelCoefficients * coefficientsOut = 0);

} // namespace util3d
} // namespace rtabmap

#endif /* UTIL3D_FILTERING_H_ */