util3d.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
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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10  notice, this list of conditions and the following disclaimer in the
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15 
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24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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/rtabmap_core_export.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 <rtabmap/core/ProgressState.h>
42 #include <map>
43 #include <list>
44 
45 namespace rtabmap
46 {
47 
48 namespace util3d
49 {
50 
51 cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(
52  const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
53  bool bgrOrder = true);
54 
55 cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(
56  const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
57  float & fx,
58  float & fy,
59  bool depth16U = true);
60 
61 void RTABMAP_CORE_EXPORT rgbdFromCloud(
62  const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
63  cv::Mat & rgb,
64  cv::Mat & depth,
65  float & fx,
66  float & fy,
67  bool bgrOrder = true,
68  bool depth16U = true);
69 
70 pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(
71  const cv::Mat & depthImage,
72  float x, float y,
73  float cx, float cy,
74  float fx, float fy,
75  bool smoothing,
76  float depthErrorRatio = 0.02f);
77 
78 Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(
79  const cv::Size & imageSize,
80  float x, float y,
81  float cx, float cy,
82  float fx, float fy);
83 
84 // Use cloudFromDepth with CameraModel interface.
85 RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
86  const cv::Mat & imageDepth,
87  float cx, float cy,
88  float fx, float fy,
89  int decimation = 1,
90  float maxDepth = 0.0f,
91  float minDepth = 0.0f,
92  std::vector<int> * validIndices = 0);
93 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
94  const cv::Mat & imageDepth,
95  const CameraModel & model,
96  int decimation = 1,
97  float maxDepth = 0.0f,
98  float minDepth = 0.0f,
99  std::vector<int> * validIndices = 0);
100 
101 // Use cloudFromDepthRGB with CameraModel interface.
102 RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
103  const cv::Mat & imageRgb,
104  const cv::Mat & imageDepth,
105  float cx, float cy,
106  float fx, float fy,
107  int decimation = 1,
108  float maxDepth = 0.0f,
109  float minDepth = 0.0f,
110  std::vector<int> * validIndices = 0);
111 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
112  const cv::Mat & imageRgb,
113  const cv::Mat & imageDepth,
114  const CameraModel & model,
115  int decimation = 1,
116  float maxDepth = 0.0f,
117  float minDepth = 0.0f,
118  std::vector<int> * validIndices = 0);
119 
120 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(
121  const cv::Mat & imageDisparity,
122  const StereoCameraModel & model,
123  int decimation = 1,
124  float maxDepth = 0.0f,
125  float minDepth = 0.0f,
126  std::vector<int> * validIndices = 0);
127 
128 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(
129  const cv::Mat & imageRgb,
130  const cv::Mat & imageDisparity,
131  const StereoCameraModel & model,
132  int decimation = 1,
133  float maxDepth = 0.0f,
134  float minDepth = 0.0f,
135  std::vector<int> * validIndices = 0);
136 
137 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(
138  const cv::Mat & imageLeft,
139  const cv::Mat & imageRight,
140  const StereoCameraModel & model,
141  int decimation = 1,
142  float maxDepth = 0.0f,
143  float minDepth = 0.0f,
144  std::vector<int> * validIndices = 0,
145  const ParametersMap & parameters = ParametersMap());
146 
160 std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromSensorData(
161  const SensorData & sensorData,
162  int decimation = 1,
163  float maxDepth = 0.0f,
164  float minDepth = 0.0f,
165  std::vector<pcl::IndicesPtr> * validIndices = 0,
166  const ParametersMap & stereoParameters = ParametersMap(),
167  const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
168 
184 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
185  const SensorData & sensorData,
186  int decimation = 1,
187  float maxDepth = 0.0f,
188  float minDepth = 0.0f,
189  std::vector<int> * validIndices = 0,
190  const ParametersMap & stereoParameters = ParametersMap(),
191  const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
192 
206 std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(
207  const SensorData & sensorData,
208  int decimation = 1,
209  float maxDepth = 0.0f,
210  float minDepth = 0.0f,
211  std::vector<pcl::IndicesPtr > * validIndices = 0,
212  const ParametersMap & stereoParameters = ParametersMap(),
213  const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
214 
230 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(
231  const SensorData & sensorData,
232  int decimation = 1,
233  float maxDepth = 0.0f,
234  float minDepth = 0.0f,
235  std::vector<int> * validIndices = 0,
236  const ParametersMap & stereoParameters = ParametersMap(),
237  const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
238 
242 pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImage(
243  const cv::Mat & depthImage,
244  float fx,
245  float fy,
246  float cx,
247  float cy,
248  float maxDepth = 0,
249  float minDepth = 0,
250  const Transform & localTransform = Transform::getIdentity());
256 pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImages(
257  const cv::Mat & depthImages,
258  const std::vector<CameraModel> & cameraModels,
259  float maxDepth,
260  float minDepth);
261 
262 template<typename PointCloud2T>
263 LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
264 // return CV_32FC3 (x,y,z)
265 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
266 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
267 // return CV_32FC6 (x,y,z,normal_x,normal_y,normal_z)
268 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
269 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
270 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
271 // return CV_32FC4 (x,y,z,rgb)
272 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
273 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
274 // return CV_32FC4 (x,y,z,I)
275 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
276 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
277 // return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)
278 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
279 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
280 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
281 // return CV_32FC7 (x,y,z,I,normal_x,normal_y,normal_z)
282 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
283 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
284 LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
285 // return CV_32FC2 (x,y)
286 LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
287 // return CV_32FC3 (x,y,I)
288 LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
289 // return CV_32FC5 (x,y,normal_x, normal_y, normal_z)
290 LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
291 LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
292 // return CV_32FC6 (x,y,I,normal_x, normal_y, normal_z)
293 LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
294 LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
295 
296 pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
297 // For 2d laserScan, z is set to null.
298 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
299 // For laserScan without normals, normals are set to null.
300 pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
301 // For laserScan without rgb, rgb is set to default r,g,b parameters.
302 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
303 // For laserScan without intensity, intensity is set to intensity parameter.
304 pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
305 // For laserScan without rgb, rgb is set to default r,g,b parameters.
306 // For laserScan without normals, normals are set to null.
307 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
308 // For laserScan without intensity, intensity is set to default intensity parameter.
309 // For laserScan without normals, normals are set to null.
310 pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
311 
312 // For 2d laserScan, z is set to null.
313 pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan & laserScan, int index);
314 // For laserScan without normals, normals are set to null.
315 pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan & laserScan, int index);
316 // For laserScan without rgb, rgb is set to default r,g,b parameters.
317 pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
318 // For laserScan without intensity, intensity is set to intensity parameter.
319 pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
320 // For laserScan without rgb, rgb is set to default r,g,b parameters.
321 // For laserScan without normals, normals are set to null.
322 pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
323 // For laserScan without intensity, intensity is set to default intensity parameter.
324 // For laserScan without normals, normals are set to null.
325 pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
326 
327 void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
328 void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
329 
330 cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
331  const cv::Point2f & pt,
332  float disparity,
333  const StereoCameraModel & model);
334 
335 cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
336  const cv::Point2f & pt,
337  const cv::Mat & disparity,
338  const StereoCameraModel & model);
339 
340 // Register point cloud to camera (return registered depth image 32FC1)
341 cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
342  const cv::Size & imageSize,
343  const cv::Mat & cameraMatrixK,
344  const cv::Mat & laserScan, // assuming points are already in /base_link coordinate
345  const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
346 
347 // Register point cloud to camera (return registered depth image 32FC1)
348 cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
349  const cv::Size & imageSize,
350  const cv::Mat & cameraMatrixK,
351  const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan, // assuming points are already in /base_link coordinate
352  const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
353 
354 // Register point cloud to camera (return registered depth image 32FC1)
355 cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
356  const cv::Size & imageSize,
357  const cv::Mat & cameraMatrixK,
358  const pcl::PCLPointCloud2::Ptr laserScan, // assuming points are already in /base_link coordinate
359  const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link
360 
361 // Direction vertical (>=0), horizontal (<0)
362 void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
363  cv::Mat & depthRegistered,
364  bool verticalDirection,
365  bool fillToBorder);
366 
377 cv::Mat RTABMAP_CORE_EXPORT filterFloor(
378  const cv::Mat & depth,
379  const std::vector<CameraModel> & cameraModels,
380  float threshold,
381  cv::Mat * depthBelow = 0);
382 
387 std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
388  const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
389  const std::map<int, Transform> & cameraPoses,
390  const std::map<int, std::vector<CameraModel> > & cameraModels,
391  float maxDistance = 0.0f,
392  float maxAngle = 0.0f,
393  const std::vector<float> & roiRatios = std::vector<float>(),
394  const cv::Mat & projMask = cv::Mat(),
395  bool distanceToCamPolicy = false,
396  const ProgressState * state = 0);
401 std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
402  const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
403  const std::map<int, Transform> & cameraPoses,
404  const std::map<int, std::vector<CameraModel> > & cameraModels,
405  float maxDistance = 0.0f,
406  float maxAngle = 0.0f,
407  const std::vector<float> & roiRatios = std::vector<float>(),
408  const cv::Mat & projMask = cv::Mat(),
409  bool distanceToCamPolicy = false,
410  const ProgressState * state = 0);
411 
412 bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt);
413 
414 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
415  const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
416 pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
417  const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
418 
428 pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
429  const std::vector<pcl::IndicesPtr> & indices);
430 
441 pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
442  const pcl::IndicesPtr & indicesA,
443  const pcl::IndicesPtr & indicesB);
444 
445 void RTABMAP_CORE_EXPORT savePCDWords(
446  const std::string & fileName,
447  const std::multimap<int, pcl::PointXYZ> & words,
448  const Transform & transform = Transform::getIdentity());
449 
450 void RTABMAP_CORE_EXPORT savePCDWords(
451  const std::string & fileName,
452  const std::multimap<int, cv::Point3f> & words,
453  const Transform & transform = Transform::getIdentity());
454 
459 cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName);
460 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName);
461 // Use interface without dim argument.
462 RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName, int dim);
463 
464 // Load *.pcd, *.ply or *.bin (KITTI format).
465 LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path);
466 
467 // Use loadScan() instead.
468 RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(
469  const std::string & path,
470  const Transform & transform = Transform::getIdentity(),
471  int downsampleStep = 1,
472  float voxelSize = 0.0f);
473 
482 LaserScan RTABMAP_CORE_EXPORT deskew(
483  const LaserScan & input,
484  double inputStamp,
485  const rtabmap::Transform & velocity);
486 
487 } // namespace util3d
488 } // namespace rtabmap
489 
490 #include "rtabmap/core/impl/util3d.hpp"
491 
492 #endif /* UTIL3D_H_ */
glm::min
GLM_FUNC_DECL genType min(genType const &x, genType const &y)
rtabmap::util3d::laserScanToPointCloudINormal
pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
Definition: util3d.cpp:2402
rtabmap::util3d::cloudFromDepthRGB
RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(const cv::Mat &imageRgb, 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)
Definition: util3d.cpp:416
rtabmap::util3d::laserScanToPointCloud2
pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan &laserScan, const Transform &transform=Transform())
Definition: util3d.cpp:2230
rtabmap::util3d::laserScanToPointI
pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan &laserScan, int index, float intensity)
Definition: util3d.cpp:2505
rtabmap::util3d::rgbdFromCloud
void RTABMAP_CORE_EXPORT 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:138
rtabmap::util3d::cloudFromStereoImages
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT 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:814
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::util3d::fillProjectedCloudHoles
void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder)
Definition: util3d.cpp:2927
rtabmap::RTABMAP_DEPRECATED
RTABMAP_DEPRECATED(typedef SensorData Image, "rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
SensorData.h
rtabmap::util3d::projectCloudToCameras
std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT projectCloudToCameras(const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)
Transform.h
state
RecoveryProgressState state
Definition: tools/Recovery/main.cpp:56
ProgressState.h
rtabmap::util3d::concatenate
pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
Concatenate a vector of indices to a single vector.
Definition: util3d.cpp:3461
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::util3d::laserScanFromPointCloud
LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)
Definition: util3d.hpp:37
rtabmap::util3d::projectDepthTo3DRay
Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(const cv::Size &imageSize, float x, float y, float cx, float cy, float fx, float fy)
Definition: util3d.cpp:246
rtabmap::util3d::loadScan
LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string &path)
Definition: util3d.cpp:3563
Parameters.h
rtabmap::util3d::cloudRGBFromSensorData
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT 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:1268
rtabmap::util3d::projectCloudToCamera
cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform)
Definition: util3d.cpp:2693
rtabmap::util3d::laserScanToPoint
pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan &laserScan, int index)
Definition: util3d.cpp:2428
rtabmap::util3d::depthFromCloud
cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, float &fx, float &fy, bool depth16U=true)
Definition: util3d.cpp:78
rtabmap::util3d::laserScanToPointCloudRGB
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
Definition: util3d.cpp:2322
rtabmap::util3d::deskew
LaserScan RTABMAP_CORE_EXPORT deskew(const LaserScan &input, double inputStamp, const rtabmap::Transform &velocity)
Lidar deskewing.
Definition: util3d.cpp:3662
rtabmap::util3d::isFinite
bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f &pt)
Definition: util3d.cpp:3436
glm::max
GLM_FUNC_DECL genType max(genType const &x, genType const &y)
rtabmap::util3d::laserScan2dFromPointCloud
LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
Definition: util3d.cpp:1992
rtabmap::util3d::loadBINCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string &fileName)
Definition: util3d.cpp:3553
rtabmap::util3d::concatenateClouds
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT concatenateClouds(const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)
Definition: util3d.cpp:3441
rtabmap::util3d::laserScanToPointCloudI
pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
Definition: util3d.cpp:2349
rtabmap::util3d::laserScanToPointRGBNormal
pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)
Definition: util3d.cpp:2531
rtabmap::util3d::projectDepthTo3D
pcl::PointXYZ RTABMAP_CORE_EXPORT 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:215
rtabmap::util3d::cloudsRGBFromSensorData
std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >())
Definition: util3d.cpp:1093
rtabmap::util3d::laserScanToPointNormal
pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan &laserScan, int index)
Definition: util3d.cpp:2443
rtabmap::util3d::laserScanToPointRGB
pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)
Definition: util3d.cpp:2465
util3d.hpp
rtabmap::Transform
Definition: Transform.h:41
rtabmap::util3d::cloudFromSensorData
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT 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:1040
rtabmap::util3d::rgbFromCloud
cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)
rtabmap::util3d::laserScanToPointINormal
pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan &laserScan, int index, float intensity)
Definition: util3d.cpp:2579
rtabmap::util3d::cloudFromDisparityRGB
pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT 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:713
rtabmap::util3d::savePCDWords
void RTABMAP_CORE_EXPORT savePCDWords(const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())
Definition: util3d.cpp:3493
rtabmap::util3d::projectDisparityTo3D
cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(const cv::Point2f &pt, float disparity, const StereoCameraModel &model)
Definition: util3d.cpp:2653
rtabmap::util3d::laserScanToPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan &laserScan, const Transform &transform=Transform())
Definition: util3d.cpp:2269
rtabmap::util3d::cloudFromDepth
RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT 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)
Definition: util3d.cpp:266
rtabmap::util3d::getMinMax3D
void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)
Definition: util3d.cpp:2613
rtabmap::util3d::loadBINScan
cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string &fileName)
Definition: util3d.cpp:3530
rtabmap::util3d::loadCloud
RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadCloud(const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)
Definition: util3d.cpp:3621
rtabmap::util3d::laserScanToPointCloudRGBNormal
pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
Definition: util3d.cpp:2376
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::util3d::laserScanToPointCloudNormal
pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan &laserScan, const Transform &transform=Transform())
Definition: util3d.cpp:2296
trace.model
model
Definition: trace.py:4
rtabmap::util3d::laserScanFromDepthImages
pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImages(const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth)
Definition: util3d.cpp:1357
rtabmap::util3d::filterFloor
cv::Mat RTABMAP_CORE_EXPORT filterFloor(const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float threshold, cv::Mat *depthBelow=0)
Remove values below a floor threshold in a depth image.
Definition: util3d.cpp:3010
rtabmap::util3d::laserScanFromDepthImage
pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT 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:1321
rtabmap::util3d::cloudsFromSensorData
std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > RTABMAP_CORE_EXPORT cloudsFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >())
Definition: util3d.cpp:854
rtabmap::util3d::cloudFromDisparity
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT 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:612

rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Feb 13 2025 03:45:05