util3d.h

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      notice, this list of conditions and the following disclaimer.
    * 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 UTIL3D_H_
#define UTIL3D_H_

#include "rtabmap/core/RtabmapExp.h"

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
#include <map>
#include <list>

namespace rtabmap
{

namespace util3d
{

cv::Mat RTABMAP_EXP rgbFromCloud(
                const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
                bool bgrOrder = true);

cv::Mat RTABMAP_EXP depthFromCloud(
                const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
                float & fx,
                float & fy,
                bool depth16U = true);

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);

pcl::PointXYZ RTABMAP_EXP projectDepthTo3D(
                const cv::Mat & depthImage,
                float x, float y,
                float cx, float cy,
                float fx, float fy,
                bool smoothing,
                float maxZError = 0.02f);

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.");
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);

RTABMAP_DEPRECATED (pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP 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), "Use cloudFromDepthRGB with CameraModel interface.");
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);

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);

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);

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());

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 & parameters = ParametersMap());

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 & parameters = ParametersMap());

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());

// return CV_32FC3
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
// return CV_32FC6
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform());
// return CV_32FC2
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
// For laserScan of type CV_32FC2, z is set to null.
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan, const Transform & transform = Transform());
// For laserScan of type CV_32FC2 or CV_32FC3, normals are set to null.
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const cv::Mat & laserScan, const Transform & transform = Transform());

cv::Point3f RTABMAP_EXP projectDisparityTo3D(
                const cv::Point2f & pt,
                float disparity,
                const StereoCameraModel & model);

cv::Point3f RTABMAP_EXP projectDisparityTo3D(
                const cv::Point2f & pt,
                const cv::Mat & disparity,
                const StereoCameraModel & model);

// Register point cloud to camera (return registered depth image)
cv::Mat RTABMAP_EXP projectCloudToCamera(
                const cv::Size & imageSize,
                const cv::Mat & cameraMatrixK,  
                const cv::Mat & laserScan,                   // assuming points are already in /base_link coordinate
                const rtabmap::Transform & cameraTransform); // /base_link -> /camera_link

// Register point cloud to camera (return registered depth image)
cv::Mat RTABMAP_EXP projectCloudToCamera(
                const cv::Size & imageSize,
                const cv::Mat & cameraMatrixK,                       
                const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan, // assuming points are already in /base_link coordinate
                const rtabmap::Transform & cameraTransform);         // /base_link -> /camera_link

// Direction vertical (>=0), horizontal (<0)
void RTABMAP_EXP fillProjectedCloudHoles(
                cv::Mat & depthRegistered,
                bool verticalDirection,
                bool fillToBorder);

bool RTABMAP_EXP isFinite(const cv::Point3f & pt);

pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP concatenateClouds(
                const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP concatenateClouds(
                const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);

pcl::TextureMesh::Ptr RTABMAP_EXP concatenateTextureMeshes(
                const std::list<pcl::TextureMesh::Ptr> & meshes);

pcl::IndicesPtr RTABMAP_EXP concatenate(
                const std::vector<pcl::IndicesPtr> & indices);

pcl::IndicesPtr RTABMAP_EXP concatenate(
                const pcl::IndicesPtr & indicesA,
                const pcl::IndicesPtr & indicesB);

void RTABMAP_EXP savePCDWords(
                const std::string & fileName,
                const std::multimap<int, pcl::PointXYZ> & words,
                const Transform & transform = Transform::getIdentity());

void RTABMAP_EXP savePCDWords(
                const std::string & fileName,
                const std::multimap<int, cv::Point3f> & words,
                const Transform & transform = Transform::getIdentity());

pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadBINCloud(const std::string & fileName, int dim);

// Load *.pcd, *.ply or *.bin (KITTI format) with optional filtering.
// If normals are computed (normalsK>0), the returned scan type is CV_32FC6 instead of CV_32FC3
cv::Mat RTABMAP_EXP loadScan(
                const std::string & path,
                const Transform & transform = Transform::getIdentity(),
                int downsampleStep = 1,
                float voxelSize = 0.0f,
                int normalsK = 0);

pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadCloud(
                const std::string & path,
                const Transform & transform = Transform::getIdentity(),
                int downsampleStep = 1,
                float voxelSize = 0.0f);

} // namespace util3d
} // namespace rtabmap

#endif /* UTIL3D_H_ */