util3d.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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6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
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15 
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #ifndef UTIL3D_H_
29 #define UTIL3D_H_
30 
31 #include "rtabmap/core/RtabmapExp.h"
32 
33 #include <pcl/point_cloud.h>
34 #include <pcl/point_types.h>
35 #include <pcl/pcl_base.h>
36 #include <pcl/TextureMesh.h>
37 #include <rtabmap/core/Transform.h>
38 #include <rtabmap/core/SensorData.h>
39 #include <rtabmap/core/Parameters.h>
40 #include <opencv2/core/core.hpp>
41 #include <map>
42 #include <list>
43 
44 namespace rtabmap
45 {
46 
47 namespace util3d
48 {
49 
50 cv::Mat RTABMAP_EXP rgbFromCloud(
51  const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
52  bool bgrOrder = true);
53 
54 cv::Mat RTABMAP_EXP depthFromCloud(
55  const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
56  float & fx,
57  float & fy,
58  bool depth16U = true);
59 
60 void RTABMAP_EXP rgbdFromCloud(
61  const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
62  cv::Mat & rgb,
63  cv::Mat & depth,
64  float & fx,
65  float & fy,
66  bool bgrOrder = true,
67  bool depth16U = true);
68 
69 pcl::PointXYZ RTABMAP_EXP projectDepthTo3D(
70  const cv::Mat & depthImage,
71  float x, float y,
72  float cx, float cy,
73  float fx, float fy,
74  bool smoothing,
75  float depthErrorRatio = 0.02f);
76 
77 Eigen::Vector3f RTABMAP_EXP projectDepthTo3DRay(
78  const cv::Size & imageSize,
79  float x, float y,
80  float cx, float cy,
81  float fx, float fy);
82 
83 RTABMAP_DEPRECATED (pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
84  const cv::Mat & imageDepth,
85  float cx, float cy,
86  float fx, float fy,
87  int decimation = 1,
88  float maxDepth = 0.0f,
89  float minDepth = 0.0f,
90  std::vector<int> * validIndices = 0), "Use cloudFromDepth with CameraModel interface.");
91 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDepth(
92  const cv::Mat & imageDepth,
93  const CameraModel & model,
94  int decimation = 1,
95  float maxDepth = 0.0f,
96  float minDepth = 0.0f,
97  std::vector<int> * validIndices = 0);
98 
99 RTABMAP_DEPRECATED (pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
100  const cv::Mat & imageRgb,
101  const cv::Mat & imageDepth,
102  float cx, float cy,
103  float fx, float fy,
104  int decimation = 1,
105  float maxDepth = 0.0f,
106  float minDepth = 0.0f,
107  std::vector<int> * validIndices = 0), "Use cloudFromDepthRGB with CameraModel interface.");
108 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDepthRGB(
109  const cv::Mat & imageRgb,
110  const cv::Mat & imageDepth,
111  const CameraModel & model,
112  int decimation = 1,
113  float maxDepth = 0.0f,
114  float minDepth = 0.0f,
115  std::vector<int> * validIndices = 0);
116 
117 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromDisparity(
118  const cv::Mat & imageDisparity,
119  const StereoCameraModel & model,
120  int decimation = 1,
121  float maxDepth = 0.0f,
122  float minDepth = 0.0f,
123  std::vector<int> * validIndices = 0);
124 
125 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromDisparityRGB(
126  const cv::Mat & imageRgb,
127  const cv::Mat & imageDisparity,
128  const StereoCameraModel & model,
129  int decimation = 1,
130  float maxDepth = 0.0f,
131  float minDepth = 0.0f,
132  std::vector<int> * validIndices = 0);
133 
134 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudFromStereoImages(
135  const cv::Mat & imageLeft,
136  const cv::Mat & imageRight,
137  const StereoCameraModel & model,
138  int decimation = 1,
139  float maxDepth = 0.0f,
140  float minDepth = 0.0f,
141  std::vector<int> * validIndices = 0,
142  const ParametersMap & parameters = ParametersMap());
143 
144 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cloudFromSensorData(
145  const SensorData & sensorData,
146  int decimation = 1,
147  float maxDepth = 0.0f,
148  float minDepth = 0.0f,
149  std::vector<int> * validIndices = 0,
150  const ParametersMap & stereoParameters = ParametersMap(),
151  const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
152 
167 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
168  const SensorData & sensorData,
169  int decimation = 1,
170  float maxDepth = 0.0f,
171  float minDepth = 0.0f,
172  std::vector<int> * validIndices = 0,
173  const ParametersMap & stereoParameters = ParametersMap(),
174  const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
175 
179 pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
180  const cv::Mat & depthImage,
181  float fx,
182  float fy,
183  float cx,
184  float cy,
185  float maxDepth = 0,
186  float minDepth = 0,
187  const Transform & localTransform = Transform::getIdentity());
193 pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
194  const cv::Mat & depthImages,
195  const std::vector<CameraModel> & cameraModels,
196  float maxDepth,
197  float minDepth);
198 
199 LaserScan RTABMAP_EXP laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud, bool filterNaNs = true);
200 // return CV_32FC3 (x,y,z)
201 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
202 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
203 // return CV_32FC6 (x,y,z,normal_x,normal_y,normal_z)
204 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
205 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
206 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
207 // return CV_32FC4 (x,y,z,rgb)
208 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
209 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
210 // return CV_32FC4 (x,y,z,I)
211 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
212 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
213 // return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)
214 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
215 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
216 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
217 // return CV_32FC7 (x,y,z,I,normal_x,normal_y,normal_z)
218 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
219 cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
220 // return CV_32FC2 (x,y)
221 cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
222 // return CV_32FC3 (x,y,I)
223 cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
224 // return CV_32FC5 (x,y,normal_x, normal_y, normal_z)
225 cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
226 cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
227 // return CV_32FC6 (x,y,I,normal_x, normal_y, normal_z)
228 cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
229 cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
230 
231 pcl::PCLPointCloud2::Ptr RTABMAP_EXP laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
232 // For 2d laserScan, z is set to null.
233 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
234 // For laserScan without normals, normals are set to null.
235 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
236 // For laserScan without rgb, rgb is set to default r,g,b parameters.
237 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
238 // For laserScan without intensity, intensity is set to intensity parameter.
239 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
240 // For laserScan without rgb, rgb is set to default r,g,b parameters.
241 // For laserScan without normals, normals are set to null.
242 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
243 // For laserScan without intensity, intensity is set to default intensity parameter.
244 // For laserScan without normals, normals are set to null.
245 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
246 
247 // For 2d laserScan, z is set to null.
248 pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const LaserScan & laserScan, int index);
249 // For laserScan without normals, normals are set to null.
250 pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const LaserScan & laserScan, int index);
251 // For laserScan without rgb, rgb is set to default r,g,b parameters.
252 pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
253 // For laserScan without intensity, intensity is set to intensity parameter.
254 pcl::PointXYZI RTABMAP_EXP laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
255 // For laserScan without rgb, rgb is set to default r,g,b parameters.
256 // For laserScan without normals, normals are set to null.
257 pcl::PointXYZRGBNormal RTABMAP_EXP laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
258 // For laserScan without intensity, intensity is set to default intensity parameter.
259 // For laserScan without normals, normals are set to null.
260 pcl::PointXYZINormal RTABMAP_EXP laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
261 
262 void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
263 void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
264 
265 cv::Point3f RTABMAP_EXP projectDisparityTo3D(
266  const cv::Point2f & pt,
267  float disparity,
268  const StereoCameraModel & model);
269 
270 cv::Point3f RTABMAP_EXP projectDisparityTo3D(
271  const cv::Point2f & pt,
272  const cv::Mat & disparity,
273  const StereoCameraModel & model);
274 
275 // Register point cloud to camera (return registered depth image 32FC1)
276 cv::Mat RTABMAP_EXP projectCloudToCamera(
277  const cv::Size & imageSize,
278  const cv::Mat & cameraMatrixK,
279  const cv::Mat & laserScan, // assuming points are already in /base_link coordinate
280  const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
281 
282 // Register point cloud to camera (return registered depth image 32FC1)
283 cv::Mat RTABMAP_EXP projectCloudToCamera(
284  const cv::Size & imageSize,
285  const cv::Mat & cameraMatrixK,
286  const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan, // assuming points are already in /base_link coordinate
287  const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
288 
289 // Register point cloud to camera (return registered depth image 32FC1)
290 cv::Mat RTABMAP_EXP projectCloudToCamera(
291  const cv::Size & imageSize,
292  const cv::Mat & cameraMatrixK,
293  const pcl::PCLPointCloud2::Ptr laserScan, // assuming points are already in /base_link coordinate
294  const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
295 
296 // Direction vertical (>=0), horizontal (<0)
297 void RTABMAP_EXP fillProjectedCloudHoles(
298  cv::Mat & depthRegistered,
299  bool verticalDirection,
300  bool fillToBorder);
301 
302 bool RTABMAP_EXP isFinite(const cv::Point3f & pt);
303 
304 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP concatenateClouds(
305  const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
306 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP concatenateClouds(
307  const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
308 
318 pcl::IndicesPtr RTABMAP_EXP concatenate(
319  const std::vector<pcl::IndicesPtr> & indices);
320 
331 pcl::IndicesPtr RTABMAP_EXP concatenate(
332  const pcl::IndicesPtr & indicesA,
333  const pcl::IndicesPtr & indicesB);
334 
335 void RTABMAP_EXP savePCDWords(
336  const std::string & fileName,
337  const std::multimap<int, pcl::PointXYZ> & words,
338  const Transform & transform = Transform::getIdentity());
339 
340 void RTABMAP_EXP savePCDWords(
341  const std::string & fileName,
342  const std::multimap<int, cv::Point3f> & words,
343  const Transform & transform = Transform::getIdentity());
344 
349 cv::Mat RTABMAP_EXP loadBINScan(const std::string & fileName);
350 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadBINCloud(const std::string & fileName);
351 RTABMAP_DEPRECATED(pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadBINCloud(const std::string & fileName, int dim), "Use interface without dim argument.");
352 
353 // Load *.pcd, *.ply or *.bin (KITTI format).
354 LaserScan RTABMAP_EXP loadScan(const std::string & path);
355 
356 RTABMAP_DEPRECATED(pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadCloud(
357  const std::string & path,
358  const Transform & transform = Transform::getIdentity(),
359  int downsampleStep = 1,
360  float voxelSize = 0.0f), "Use loadScan() instead.");
361 
362 } // namespace util3d
363 } // namespace rtabmap
364 
365 #endif /* UTIL3D_H_ */
rtabmap::util3d::laserScanFromPointCloud
LaserScan RTABMAP_EXP laserScanFromPointCloud(const pcl::PCLPointCloud2 &cloud, bool filterNaNs=true)
Definition: util3d.cpp:1266
rtabmap::util3d::isFinite
bool RTABMAP_EXP isFinite(const cv::Point3f &pt)
Definition: util3d.cpp:3035
rtabmap::util3d::cloudFromDisparity
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP cloudFromDisparity(const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
Definition: util3d.cpp:610
rtabmap::util3d::laserScanToPointNormal
pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const LaserScan &laserScan, int index)
Definition: util3d.cpp:2447
rtabmap::util3d::projectDisparityTo3D
cv::Point3f RTABMAP_EXP projectDisparityTo3D(const cv::Point2f &pt, float disparity, const StereoCameraModel &model)
Definition: util3d.cpp:2633
glm::min
GLM_FUNC_DECL genType min(genType const &x, genType const &y)
rtabmap::util3d::getMinMax3D
void RTABMAP_EXP getMinMax3D(const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)
Definition: util3d.cpp:2593
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:364
rtabmap::util3d::laserScanToPointCloudRGBNormal
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_EXP laserScanToPointCloudRGBNormal(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=255, unsigned char g=255, unsigned char b=255)
Definition: util3d.cpp:2399
rtabmap::util3d::laserScanToPointINormal
pcl::PointXYZINormal RTABMAP_EXP laserScanToPointINormal(const LaserScan &laserScan, int index, float intensity)
Definition: util3d.cpp:2560
rtabmap::util3d::laserScanToPointCloud2
pcl::PCLPointCloud2::Ptr RTABMAP_EXP laserScanToPointCloud2(const LaserScan &laserScan, const Transform &transform=Transform())
Definition: util3d.cpp:2289
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:41
rtabmap::util3d::laserScanToPoint
pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const LaserScan &laserScan, int index)
Definition: util3d.cpp:2433
rtabmap::util3d::savePCDWords
void RTABMAP_EXP savePCDWords(const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())
Definition: util3d.cpp:3092
rtabmap::util3d::laserScanToPointRGBNormal
pcl::PointXYZRGBNormal RTABMAP_EXP laserScanToPointRGBNormal(const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)
Definition: util3d.cpp:2522
rtabmap::util3d::laserScanToPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP laserScanToPointCloud(const LaserScan &laserScan, const Transform &transform=Transform())
Definition: util3d.cpp:2328
rtabmap::util3d::laserScanFromDepthImages
pcl::PointCloud< pcl::PointXYZ > RTABMAP_EXP laserScanFromDepthImages(const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth)
Definition: util3d.cpp:1233
rtabmap::util3d::cloudFromDepth
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP cloudFromDepth(const cv::Mat &imageDepth, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
Definition: util3d.cpp:277
rtabmap::util3d::cloudFromDepthRGB
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_EXP cloudFromDepthRGB(const cv::Mat &imageRgb, const cv::Mat &imageDepth, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
Definition: util3d.cpp:428
rtabmap::util3d::laserScan2dFromPointCloud
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
Definition: util3d.cpp:2051
RTABMAP_EXP
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
rtabmap::util3d::projectDepthTo3D
pcl::PointXYZ RTABMAP_EXP projectDepthTo3D(const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float depthErrorRatio=0.02f)
Definition: util3d.cpp:213
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::laserScanToPointCloudINormal
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_EXP laserScanToPointCloudINormal(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
Definition: util3d.cpp:2416
rtabmap::util3d::cloudRGBFromSensorData
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_EXP cloudRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >())
Definition: util3d.cpp:1031
rtabmap::util3d::laserScanToPointRGB
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const LaserScan &laserScan, int index, unsigned char r=255, unsigned char g=255, unsigned char b=255)
Definition: util3d.cpp:2468
rtabmap::util3d::laserScanFromDepthImage
pcl::PointCloud< pcl::PointXYZ > RTABMAP_EXP laserScanFromDepthImage(const cv::Mat &depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform &localTransform=Transform::getIdentity())
Definition: util3d.cpp:1197
rtabmap::util3d::laserScanToPointI
pcl::PointXYZI RTABMAP_EXP laserScanToPointI(const LaserScan &laserScan, int index, float intensity)
Definition: util3d.cpp:2497
rtabmap::util3d::cloudFromSensorData
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP cloudFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >())
Definition: util3d.cpp:852
glm::max
GLM_FUNC_DECL genType max(genType const &x, genType const &y)
rtabmap::util3d::projectDepthTo3DRay
Eigen::Vector3f RTABMAP_EXP projectDepthTo3DRay(const cv::Size &imageSize, float x, float y, float cx, float cy, float fx, float fy)
Definition: util3d.cpp:244
rtabmap::util3d::laserScanToPointCloudNormal
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const LaserScan &laserScan, const Transform &transform=Transform())
Definition: util3d.cpp:2346
rtabmap::util3d::fillProjectedCloudHoles
void RTABMAP_EXP fillProjectedCloudHoles(cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder)
Definition: util3d.cpp:2952
rtabmap::util3d::projectCloudToCamera
cv::Mat RTABMAP_EXP projectCloudToCamera(const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform)
Definition: util3d.cpp:2672
rtabmap::util3d::loadBINCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP loadBINCloud(const std::string &fileName)
Definition: util3d.cpp:3152
rtabmap::util3d::cloudFromStereoImages
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_EXP cloudFromStereoImages(const cv::Mat &imageLeft, const cv::Mat &imageRight, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &parameters=ParametersMap())
Definition: util3d.cpp:812
rtabmap::util3d::laserScanToPointCloudI
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_EXP laserScanToPointCloudI(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
Definition: util3d.cpp:2381
rtabmap::util3d::concatenate
pcl::IndicesPtr RTABMAP_EXP concatenate(const std::vector< pcl::IndicesPtr > &indices)
Concatenate a vector of indices to a single vector.
Definition: util3d.cpp:3060
rtabmap::util3d::cloudFromDisparityRGB
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_EXP cloudFromDisparityRGB(const cv::Mat &imageRgb, const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
Definition: util3d.cpp:711
rtabmap::util3d::loadScan
LaserScan RTABMAP_EXP loadScan(const std::string &path)
Definition: util3d.cpp:3162
rtabmap::util3d::loadCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr loadCloud(const std::string &path, const Transform &transform, int downsampleStep, float voxelSize)
Definition: util3d.cpp:3184
rtabmap::util3d::rgbdFromCloud
void RTABMAP_EXP rgbdFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, cv::Mat &rgb, cv::Mat &depth, float &fx, float &fy, bool bgrOrder=true, bool depth16U=true)
Definition: util3d.cpp:136
rtabmap::util3d::laserScanToPointCloudRGB
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=255, unsigned char g=255, unsigned char b=255)
Definition: util3d.cpp:2363
rtabmap::util3d::concatenateClouds
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_EXP concatenateClouds(const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)
Definition: util3d.cpp:3040
rtabmap::util3d::depthFromCloud
cv::Mat RTABMAP_EXP depthFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, float &fx, float &fy, bool depth16U=true)
Definition: util3d.cpp:76
rtabmap::util3d::rgbFromCloud
cv::Mat RTABMAP_EXP rgbFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)
rtabmap::util3d::loadBINScan
cv::Mat RTABMAP_EXP loadBINScan(const std::string &fileName)
Definition: util3d.cpp:3129

rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:40