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
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    * Redistributions in binary form must reproduce the above copyright
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      documentation and/or other materials provided with the distribution.
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      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 <set>

namespace rtabmap
{

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::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::map<int, 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::map<int, 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<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> & images,
                const std::string & tmpDirectory = ".",
                int kNormalSearch = 20); // if mesh doesn't have normals, compute them with k neighbors

pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                int normalKSearch = 20,
                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 normalKSearch = 20,
                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 normalKSearch = 20,
                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 normalKSearch = 20,
                const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));

pcl::PointCloud<pcl::Normal>::Ptr 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 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));

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

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))
{
        std::vector<pcl::Vertices> output(polygons.size());
        for(unsigned int i=0; i<polygons.size(); ++i)
        {
                pcl::Vertices polygon = polygons[i];
                Eigen::Vector3f v1 = cloud.at(polygon.vertices[1]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
                Eigen::Vector3f v2 = cloud.at(polygon.vertices[2]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
                Eigen::Vector3f n = (v1.cross(v2)).normalized();

                Eigen::Vector3f p = Eigen::Vector3f(viewPoint.x, viewPoint.y, viewPoint.z) - cloud.at(polygon.vertices[1]).getVector3fMap();

                float result = n.dot(p);
                if(result < 0)
                {
                        //reverse vertices order
                        int tmp = polygon.vertices[0];
                        polygon.vertices[0] = polygon.vertices[2];
                        polygon.vertices[2] = tmp;
                }

                output[i] = polygon;
        }
        return output;
}

} // namespace util3d
} // namespace rtabmap

#endif /* UTIL3D_SURFACE_H_ */