util3d_mapping.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef UTIL3D_MAPPING_H_
29 #define UTIL3D_MAPPING_H_
30 
31 #include "rtabmap/core/RtabmapExp.h"
32 
33 #include <opencv2/core/core.hpp>
34 #include <map>
35 #include <rtabmap/core/Transform.h>
36 #include <pcl/pcl_base.h>
37 #include <pcl/point_cloud.h>
38 #include <pcl/point_types.h>
39 
40 namespace rtabmap
41 {
42 
43 namespace util3d
44 {
45 
46 RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
47  const cv::Mat & scan, // in /base_link frame
48  cv::Mat & empty,
49  cv::Mat & occupied,
50  float cellSize,
51  bool unknownSpaceFilled = false,
52  float scanMaxRange = 0.0f), "Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
53 
54 RTABMAP_DEPRECATED(void RTABMAP_EXP occupancy2DFromLaserScan(
55  const cv::Mat & scan, // in /base_link frame
56  const cv::Point3f & viewpoint, // /base_link -> /base_scan
57  cv::Mat & empty,
58  cv::Mat & occupied,
59  float cellSize,
60  bool unknownSpaceFilled = false,
61  float scanMaxRange = 0.0f), "Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.");
62 
63 void RTABMAP_EXP occupancy2DFromLaserScan(
64  const cv::Mat & scanHit, // in /base_link frame
65  const cv::Mat & scanNoHit, // in /base_link frame
66  const cv::Point3f & viewpoint, // /base_link -> /base_scan
67  cv::Mat & empty,
68  cv::Mat & occupied,
69  float cellSize,
70  bool unknownSpaceFilled = false,
71  float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
72 
73 cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(
74  const std::map<int, Transform> & poses,
75  const std::map<int, std::pair<cv::Mat, cv::Mat> > & occupancy,
76  float cellSize,
77  float & xMin,
78  float & yMin,
79  float minMapSize = 0.0f,
80  bool erode = false,
81  float footprintRadius = 0.0f);
82 
83 RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
84  const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
85  float cellSize,
86  bool unknownSpaceFilled,
87  float & xMin,
88  float & yMin,
89  float minMapSize = 0.0f,
90  float scanMaxRange = 0.0f), "Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.");
91 
92 RTABMAP_DEPRECATED(cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
93  const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
94  const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
95  float cellSize,
96  bool unknownSpaceFilled,
97  float & xMin,
98  float & yMin,
99  float minMapSize = 0.0f,
100  float scanMaxRange = 0.0f), "Use interface with cv::Mat scans.");
101 
102 cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
103  const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >, in /base_link frame
104  const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
105  float cellSize,
106  bool unknownSpaceFilled,
107  float & xMin,
108  float & yMin,
109  float minMapSize = 0.0f,
110  float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
111 
112 void RTABMAP_EXP rayTrace(const cv::Point2i & start,
113  const cv::Point2i & end,
114  cv::Mat & grid,
115  bool stopOnObstacle);
116 
117 cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat & map8S, bool pgmFormat = false);
118 cv::Mat RTABMAP_EXP convertImage8U2Map(const cv::Mat & map8U, bool pgmFormat = false);
119 
120 cv::Mat RTABMAP_EXP erodeMap(const cv::Mat & map);
121 
122 template<typename PointT>
123 typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
124  const typename pcl::PointCloud<PointT> & cloud);
125 
126 // templated methods
127 template<typename PointT>
128 void segmentObstaclesFromGround(
129  const typename pcl::PointCloud<PointT>::Ptr & cloud,
130  const pcl::IndicesPtr & indices,
131  pcl::IndicesPtr & ground,
132  pcl::IndicesPtr & obstacles,
133  int normalKSearch,
134  float groundNormalAngle,
135  float clusterRadius,
136  int minClusterSize,
137  bool segmentFlatObstacles = false,
138  float maxGroundHeight = 0.0f,
139  pcl::IndicesPtr * flatObstacles = 0,
140  const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0));
141 template<typename PointT>
142 void segmentObstaclesFromGround(
143  const typename pcl::PointCloud<PointT>::Ptr & cloud,
144  pcl::IndicesPtr & ground,
145  pcl::IndicesPtr & obstacles,
146  int normalKSearch,
147  float groundNormalAngle,
148  float clusterRadius,
149  int minClusterSize,
150  bool segmentFlatObstacles = false,
151  float maxGroundHeight = 0.0f,
152  pcl::IndicesPtr * flatObstacles = 0,
153  const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0));
154 
155 template<typename PointT>
156 void occupancy2DFromGroundObstacles(
157  const typename pcl::PointCloud<PointT>::Ptr & cloud,
158  const pcl::IndicesPtr & groundIndices,
159  const pcl::IndicesPtr & obstaclesIndices,
160  cv::Mat & ground,
161  cv::Mat & obstacles,
162  float cellSize);
163 
164 template<typename PointT>
165 void occupancy2DFromGroundObstacles(
166  const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
167  const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
168  cv::Mat & ground,
169  cv::Mat & obstacles,
170  float cellSize);
171 
172 template<typename PointT>
173 void occupancy2DFromCloud3D(
174  const typename pcl::PointCloud<PointT>::Ptr & cloud,
175  cv::Mat & ground,
176  cv::Mat & obstacles,
177  float cellSize = 0.05f,
178  float groundNormalAngle = M_PI_4,
179  int minClusterSize = 20,
180  bool segmentFlatObstacles = false,
181  float maxGroundHeight = 0.0f);
182 template<typename PointT>
183 void occupancy2DFromCloud3D(
184  const typename pcl::PointCloud<PointT>::Ptr & cloud,
185  const pcl::IndicesPtr & indices,
186  cv::Mat & ground,
187  cv::Mat & obstacles,
188  float cellSize = 0.05f,
189  float groundNormalAngle = M_PI_4,
190  int minClusterSize = 20,
191  bool segmentFlatObstacles = false,
192  float maxGroundHeight = 0.0f);
193 
194 } // namespace util3d
195 } // namespace rtabmap
196 
197 #include "rtabmap/core/impl/util3d_mapping.hpp"
198 
199 #endif /* UTIL3D_MAPPING_H_ */
rtabmap::util3d::erodeMap
cv::Mat RTABMAP_EXP erodeMap(const cv::Mat &map)
Definition: util3d_mapping.cpp:1010
rtabmap::util3d::create2DMapFromOccupancyLocalMaps
cv::Mat RTABMAP_EXP create2DMapFromOccupancyLocalMaps(const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &occupancy, float cellSize, float &xMin, float &yMin, float minMapSize=0.0f, bool erode=false, float footprintRadius=0.0f)
Definition: util3d_mapping.cpp:191
rtabmap::util3d::create2DMap
cv::Mat RTABMAP_EXP create2DMap(const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &scans, const std::map< int, cv::Point3f > &viewpoints, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
Definition: util3d_mapping.cpp:595
rtabmap::util3d::occupancy2DFromLaserScan
void RTABMAP_EXP occupancy2DFromLaserScan(const cv::Mat &scanHit, const cv::Mat &scanNoHit, const cv::Point3f &viewpoint, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
Definition: util3d_mapping.cpp:82
RTABMAP_EXP
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
rtabmap::util3d::RTABMAP_DEPRECATED
RTABMAP_DEPRECATED(pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP cloudFromDepth(const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0),"Use cloudFromDepth with CameraModel interface.")
rtabmap::util3d::convertImage8U2Map
cv::Mat RTABMAP_EXP convertImage8U2Map(const cv::Mat &map8U, bool pgmFormat=false)
Definition: util3d_mapping.cpp:959
util3d_mapping.hpp
rtabmap::util3d::convertMap2Image8U
cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat &map8S, bool pgmFormat=false)
Definition: util3d_mapping.cpp:926
rtabmap::util3d::segmentObstaclesFromGround
void segmentObstaclesFromGround(const typename pcl::PointCloud< PointT >::Ptr &cloud, const typename pcl::IndicesPtr &indices, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight, pcl::IndicesPtr *flatObstacles, const Eigen::Vector4f &viewPoint)
Definition: util3d_mapping.hpp:54
rtabmap::util3d::occupancy2DFromCloud3D
void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)
Definition: util3d_mapping.hpp:302
rtabmap::util3d::rayTrace
void RTABMAP_EXP rayTrace(const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)
Definition: util3d_mapping.cpp:844
rtabmap::util3d::projectCloudOnXYPlane
pcl::PointCloud< PointT >::Ptr projectCloudOnXYPlane(const typename pcl::PointCloud< PointT > &cloud)
Definition: util3d_mapping.hpp:41
rtabmap::util3d::occupancy2DFromGroundObstacles
void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
Definition: util3d_mapping.hpp:227

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:06