#include "rtabmap/core/util3d_surface.h"#include "rtabmap/core/util3d_filtering.h"#include "rtabmap/core/util3d_transforms.h"#include "rtabmap/core/util3d.h"#include "rtabmap/core/util2d.h"#include "rtabmap/core/Memory.h"#include "rtabmap/core/DBDriver.h"#include "rtabmap/core/Compression.h"#include "rtabmap/utilite/ULogger.h"#include "rtabmap/utilite/UDirectory.h"#include "rtabmap/utilite/UFile.h"#include "rtabmap/utilite/UConversion.h"#include "rtabmap/utilite/UMath.h"#include "rtabmap/utilite/UTimer.h"#include <opencv2/core/core_c.h>#include <opencv2/imgproc/types_c.h>#include <pcl/search/kdtree.h>#include <pcl/surface/gp3.h>#include <pcl/features/normal_3d_omp.h>#include <pcl/surface/mls.h>#include <pcl18/surface/texture_mapping.h>#include <pcl/features/integral_image_normal.h>#include <pcl/surface/vtk_smoothing/vtk_mesh_quadric_decimation.h>#include <pcl/surface/organized_fast_mesh.h>#include <pcl/surface/impl/marching_cubes.hpp>#include <pcl/surface/impl/organized_fast_mesh.hpp>#include <pcl/impl/instantiate.hpp>#include <pcl/point_types.h>#include <pcl/features/impl/normal_3d_omp.hpp>
Include dependency graph for util3d_surface.cpp:
Go to the source code of this file.
Namespaces | |
| rtabmap | |
| rtabmap::util3d | |
Functions | |
| LaserScan RTABMAP_EXP | rtabmap::util3d::adjustNormalsToViewPoint (const LaserScan &scan, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f) |
| void RTABMAP_EXP | rtabmap::util3d::adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f) |
| void RTABMAP_EXP | rtabmap::util3d::adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f) |
| void RTABMAP_EXP | rtabmap::util3d::adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f) |
| LaserScan | rtabmap::util3d::adjustNormalsToViewPoint (const LaserScan &scan, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp) |
| void | rtabmap::util3d::adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp) |
| void | rtabmap::util3d::adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp) |
| void | rtabmap::util3d::adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp) |
| template<typename PointNormalT > | |
| void | rtabmap::util3d::adjustNormalsToViewPointImpl (typename pcl::PointCloud< PointNormalT >::Ptr &cloud, const Eigen::Vector3f &viewpoint, float groundNormalsUp) |
| void RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::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) |
| void RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::appendMesh (pcl::PointCloud< pcl::PointXYZRGB > &cloudA, std::vector< pcl::Vertices > &polygonsA, const pcl::PointCloud< pcl::PointXYZRGB > &cloudB, const std::vector< pcl::Vertices > &polygonsB) |
| pcl::PolygonMesh::Ptr RTABMAP_EXP | rtabmap::util3d::assemblePolygonMesh (const cv::Mat &cloudMat, const std::vector< std::vector< RTABMAP_PCL_INDEX > > &polygons) |
| pcl::TextureMesh::Ptr RTABMAP_EXP | rtabmap::util3d::assembleTextureMesh (const cv::Mat &cloudMat, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, cv::Mat &textures, bool mergeTextures=false) |
| void RTABMAP_EXP | rtabmap::util3d::cleanTextureMesh (pcl::TextureMesh &textureMesh, int minClusterSize) |
| std::list< std::list< int > > RTABMAP_EXP | rtabmap::util3d::clusterPolygons (const std::vector< std::set< int > > &neighborPolygons, int minClusterSize=0) |
| pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::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::Normal >::Ptr RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::computeFastOrganizedNormals2D (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int searchK=5, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| template<typename PointT > | |
| pcl::PointCloud< pcl::Normal >::Ptr | rtabmap::util3d::computeFastOrganizedNormals2DImpl (const typename pcl::PointCloud< PointT >::Ptr &cloud, int searchK, float searchRadius, const Eigen::Vector3f &viewPoint) |
| pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::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 | rtabmap::util3d::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 | rtabmap::util3d::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 | rtabmap::util3d::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 | rtabmap::util3d::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)) |
| LaserScan | rtabmap::util3d::computeNormals (const LaserScan &laserScan, int searchK, float searchRadius) |
| pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::computeNormals2D (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int searchK=5, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0)) |
| template<typename PointT > | |
| pcl::PointCloud< pcl::Normal >::Ptr | rtabmap::util3d::computeNormals2DImpl (const typename pcl::PointCloud< PointT >::Ptr &cloud, int searchK, float searchRadius, const Eigen::Vector3f &viewPoint) |
| float RTABMAP_EXP | rtabmap::util3d::computeNormalsComplexity (const LaserScan &scan, const Transform &t=Transform::getIdentity(), cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0) |
| float RTABMAP_EXP | rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::Normal > &normals, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0) |
| float RTABMAP_EXP | rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0) |
| float RTABMAP_EXP | rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0) |
| float RTABMAP_EXP | rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0) |
| template<typename PointT > | |
| pcl::PointCloud< pcl::Normal >::Ptr | rtabmap::util3d::computeNormalsImpl (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, int searchK, float searchRadius, const Eigen::Vector3f &viewPoint) |
| void RTABMAP_EXP | rtabmap::util3d::concatenateTextureMaterials (pcl::TextureMesh &mesh, const cv::Size &imageSize, int textureSize, int maxTextures, float &scale, std::vector< bool > *materialsKept=0) |
| pcl::TextureMesh::Ptr RTABMAP_EXP | rtabmap::util3d::concatenateTextureMeshes (const std::list< pcl::TextureMesh::Ptr > &meshes) |
| std::vector< std::vector< RTABMAP_PCL_INDEX > > RTABMAP_EXP | rtabmap::util3d::convertPolygonsFromPCL (const std::vector< pcl::Vertices > &polygons) |
| std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > RTABMAP_EXP | rtabmap::util3d::convertPolygonsFromPCL (const std::vector< std::vector< pcl::Vertices > > &polygons) |
| std::vector< pcl::Vertices > RTABMAP_EXP | rtabmap::util3d::convertPolygonsToPCL (const std::vector< std::vector< RTABMAP_PCL_INDEX > > &polygons) |
| std::vector< std::vector< pcl::Vertices > > RTABMAP_EXP | rtabmap::util3d::convertPolygonsToPCL (const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &tex_polygons) |
| pcl::PolygonMesh::Ptr RTABMAP_EXP | rtabmap::util3d::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) |
| void RTABMAP_EXP | rtabmap::util3d::createPolygonIndexes (const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons) |
| Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons. More... | |
| pcl::texture_mapping::CameraVector | rtabmap::util3d::createTextureCameras (const std::map< int, Transform > &poses, const std::map< int, std::vector< CameraModel > > &cameraModels, const std::map< int, cv::Mat > &cameraDepths, const std::vector< float > &roiRatios) |
| pcl::TextureMesh::Ptr RTABMAP_EXP | rtabmap::util3d::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, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const ProgressState *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false) |
| pcl::TextureMesh::Ptr RTABMAP_EXP | rtabmap::util3d::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, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const ProgressState *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false) |
| std::vector< pcl::Vertices > RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::filterInvalidPolygons (const std::vector< pcl::Vertices > &polygons) |
| std::vector< int > RTABMAP_EXP | rtabmap::util3d::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< int > RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::filterNotUsedVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< pcl::PointXYZRGB > &outputCloud, std::vector< pcl::Vertices > &outputPolygons) |
| void RTABMAP_EXP | rtabmap::util3d::fixTextureMeshForVisualization (pcl::TextureMesh &textureMesh) |
| int | rtabmap::util3d::gcd (int a, int b) |
| bool RTABMAP_EXP | rtabmap::util3d::intersectRayTriangle (const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::mergeTextures (pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, CameraModel > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0) |
| cv::Mat RTABMAP_EXP | rtabmap::util3d::mergeTextures (pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, std::vector< CameraModel > > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0) |
| pcl::PolygonMesh::Ptr RTABMAP_EXP | rtabmap::util3d::meshDecimation (const pcl::PolygonMesh::Ptr &mesh, float factor) |
| pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_EXP | rtabmap::util3d::mls (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float searchRadius=0.0f, int polygonialOrder=2, int upsamplingMethod=0, float upsamplingRadius=0.0f, float upsamplingStep=0.0f, int pointDensity=0, float dilationVoxelSize=1.0f, int dilationIterations=0) |
| pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_EXP | rtabmap::util3d::mls (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float searchRadius=0.0f, int polygonialOrder=2, int upsamplingMethod=0, float upsamplingRadius=0.0f, float upsamplingStep=0.0f, int pointDensity=0, float dilationVoxelSize=1.0f, int dilationIterations=0) |
| bool RTABMAP_EXP | rtabmap::util3d::multiBandTexturing (const std::string &outputOBJPath, const pcl::PCLPointCloud2 &cloud, const std::vector< pcl::Vertices > &polygons, const std::map< int, Transform > &cameraPoses, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels, const std::map< int, cv::Mat > &images, const std::map< int, std::vector< CameraModel > > &cameraModels, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=8192, const std::string &textureFormat="jpg", const std::map< int, std::map< int, cv::Vec4d > > &gains=std::map< int, std::map< int, cv::Vec4d > >(), const std::map< int, std::map< int, cv::Mat > > &blendingGains=std::map< int, std::map< int, cv::Mat > >(), const std::pair< float, float > &contrastValues=std::pair< float, float >(0, 0), bool gainRGB=true) |
| std::vector< pcl::Vertices > RTABMAP_EXP | rtabmap::util3d::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 | rtabmap::util3d::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 | rtabmap::util3d::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)) |
| double | rtabmap::util3d::sqr (uchar v) |