util2d.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 UTIL2D_H_
#define UTIL2D_H_

#include <rtabmap/core/RtabmapExp.h>

#include <opencv2/core/core.hpp>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/Parameters.h>
#include <vector>

namespace rtabmap
{

namespace util2d
{

// SSD: Sum of Squared Differences
float RTABMAP_EXP ssd(const cv::Mat & windowLeft, const cv::Mat & windowRight);
// SAD: Sum of Absolute intensity Differences
float RTABMAP_EXP sad(const cv::Mat & windowLeft, const cv::Mat & windowRight);

std::vector<cv::Point2f> RTABMAP_EXP calcStereoCorrespondences(
                const cv::Mat & leftImage,
                const cv::Mat & rightImage,
                const std::vector<cv::Point2f> & leftCorners,
                std::vector<unsigned char> & status,
                cv::Size winSize = cv::Size(6,3),
                int maxLevel = 3,
                int iterations = 5,
                float minDisparity = 0.0f,
                float maxDisparity = 64.0f,
                bool ssdApproach = true); // SSD by default, otherwise it is SAD

// exactly as cv::calcOpticalFlowPyrLK but it should be called with pyramid (from cv::buildOpticalFlowPyramid()) and delta drops the y error.
void RTABMAP_EXP calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputArray _nextImg,
                           cv::InputArray _prevPts, cv::InputOutputArray _nextPts,
                           cv::OutputArray _status, cv::OutputArray _err,
                           cv::Size winSize = cv::Size(15,3), int maxLevel = 3,
                                                   cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
                                                   int flags = 0, double minEigThreshold = 1e-4 );


cv::Mat RTABMAP_EXP disparityFromStereoImages(
                const cv::Mat & leftImage,
                const cv::Mat & rightImage,
            const ParametersMap & parameters = ParametersMap());

cv::Mat RTABMAP_EXP depthFromDisparity(const cv::Mat & disparity,
                float fx, float baseline,
                int type = CV_32FC1); // CV_32FC1 or CV_16UC1

cv::Mat RTABMAP_EXP depthFromStereoImages(
                const cv::Mat & leftImage,
                const cv::Mat & rightImage,
                const std::vector<cv::Point2f> & leftCorners,
                float fx,
                float baseline,
                int flowWinSize = 9,
                int flowMaxLevel = 4,
                int flowIterations = 20,
                double flowEps = 0.02);

cv::Mat RTABMAP_EXP disparityFromStereoCorrespondences(
                const cv::Size & disparitySize,
                const std::vector<cv::Point2f> & leftCorners,
                const std::vector<cv::Point2f> & rightCorners,
                const std::vector<unsigned char> & mask);

cv::Mat RTABMAP_EXP depthFromStereoCorrespondences(
                const cv::Mat & leftImage,
                const std::vector<cv::Point2f> & leftCorners,
                const std::vector<cv::Point2f> & rightCorners,
                const std::vector<unsigned char> & mask,
                float fx, float baseline);

cv::Mat RTABMAP_EXP cvtDepthFromFloat(const cv::Mat & depth32F);
cv::Mat RTABMAP_EXP cvtDepthToFloat(const cv::Mat & depth16U);

float RTABMAP_EXP getDepth(
                const cv::Mat & depthImage,
                float x, float y,
                bool smoothing,
                float depthErrorRatio = 0.02f, //ratio
                bool estWithNeighborsIfNull = false);

cv::Rect RTABMAP_EXP computeRoi(const cv::Mat & image, const std::string & roiRatios);
cv::Rect RTABMAP_EXP computeRoi(const cv::Size & imageSize, const std::string & roiRatios);
cv::Rect RTABMAP_EXP computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
cv::Rect RTABMAP_EXP computeRoi(const cv::Size & imageSize, const std::vector<float> & roiRatios);

cv::Mat RTABMAP_EXP decimate(const cv::Mat & image, int d);
cv::Mat RTABMAP_EXP interpolate(const cv::Mat & image, int factor, float depthErrorRatio = 0.02f);

// Registration Depth to RGB (return registered depth image)
cv::Mat RTABMAP_EXP registerDepth(
                const cv::Mat & depth,
                const cv::Mat & depthK,
                const cv::Size & colorSize,
                const cv::Mat & colorK,
                const rtabmap::Transform & transform);

cv::Mat RTABMAP_EXP fillDepthHoles(
                const cv::Mat & depth,
                int maximumHoleSize = 1,
                float errorRatio = 0.02f);

void RTABMAP_EXP fillRegisteredDepthHoles(
                cv::Mat & depthRegistered,
                bool vertical,
                bool horizontal,
                bool fillDoubleHoles = false);

cv::Mat RTABMAP_EXP fastBilateralFiltering(
                const cv::Mat & depth,
                float sigmaS = 15.0f,
                float sigmaR = 0.05f,
                bool earlyDivision = false);

cv::Mat RTABMAP_EXP brightnessAndContrastAuto(
                const cv::Mat & src,
                const cv::Mat & mask,
                float clipLowHistPercent=0,
                float clipHighHistPercent=0,
                float * alphaOut = 0,
                float * betaOut = 0);

cv::Mat RTABMAP_EXP exposureFusion(
        const std::vector<cv::Mat> & images);

void RTABMAP_EXP HSVtoRGB( float *r, float *g, float *b, float h, float s, float v );

} // namespace util3d
} // namespace rtabmap

#endif /* UTIL2D_H_ */