util3d_mapping.h
Go to the documentation of this file.
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:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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.
26 */
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 
117 cv::Mat RTABMAP_EXP create2DMap(const std::map<int, Transform> & poses,
118  const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >, in /base_link frame
119  const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
120  float cellSize,
121  bool unknownSpaceFilled,
122  float & xMin,
123  float & yMin,
124  float minMapSize = 0.0f,
125  float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
126 
127 void RTABMAP_EXP rayTrace(const cv::Point2i & start,
128  const cv::Point2i & end,
129  cv::Mat & grid,
130  bool stopOnObstacle);
131 
132 cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat & map8S, bool pgmFormat = false);
133 cv::Mat RTABMAP_EXP convertImage8U2Map(const cv::Mat & map8U, bool pgmFormat = false);
134 
135 cv::Mat RTABMAP_EXP erodeMap(const cv::Mat & map);
136 
137 template<typename PointT>
138 typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
139  const typename pcl::PointCloud<PointT> & cloud);
140 
141 // templated methods
142 template<typename PointT>
143 void segmentObstaclesFromGround(
144  const typename pcl::PointCloud<PointT>::Ptr & cloud,
145  const pcl::IndicesPtr & indices,
146  pcl::IndicesPtr & ground,
147  pcl::IndicesPtr & obstacles,
148  int normalKSearch,
149  float groundNormalAngle,
150  float clusterRadius,
151  int minClusterSize,
152  bool segmentFlatObstacles = false,
153  float maxGroundHeight = 0.0f,
154  pcl::IndicesPtr * flatObstacles = 0,
155  const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0),
156  float groundNormalsUp = 0);
157 template<typename PointT>
158 void segmentObstaclesFromGround(
159  const typename pcl::PointCloud<PointT>::Ptr & cloud,
160  pcl::IndicesPtr & ground,
161  pcl::IndicesPtr & obstacles,
162  int normalKSearch,
163  float groundNormalAngle,
164  float clusterRadius,
165  int minClusterSize,
166  bool segmentFlatObstacles = false,
167  float maxGroundHeight = 0.0f,
168  pcl::IndicesPtr * flatObstacles = 0,
169  const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0),
170  float groundNormalsUp = 0);
171 
172 template<typename PointT>
173 void occupancy2DFromGroundObstacles(
174  const typename pcl::PointCloud<PointT>::Ptr & cloud,
175  const pcl::IndicesPtr & groundIndices,
176  const pcl::IndicesPtr & obstaclesIndices,
177  cv::Mat & ground,
178  cv::Mat & obstacles,
179  float cellSize);
180 
181 template<typename PointT>
182 void occupancy2DFromGroundObstacles(
183  const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
184  const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
185  cv::Mat & ground,
186  cv::Mat & obstacles,
187  float cellSize);
188 
189 template<typename PointT>
190 void occupancy2DFromCloud3D(
191  const typename pcl::PointCloud<PointT>::Ptr & cloud,
192  cv::Mat & ground,
193  cv::Mat & obstacles,
194  float cellSize = 0.05f,
195  float groundNormalAngle = M_PI_4,
196  int minClusterSize = 20,
197  bool segmentFlatObstacles = false,
198  float maxGroundHeight = 0.0f);
199 template<typename PointT>
200 void occupancy2DFromCloud3D(
201  const typename pcl::PointCloud<PointT>::Ptr & cloud,
202  const pcl::IndicesPtr & indices,
203  cv::Mat & ground,
204  cv::Mat & obstacles,
205  float cellSize = 0.05f,
206  float groundNormalAngle = M_PI_4,
207  int minClusterSize = 20,
208  bool segmentFlatObstacles = false,
209  float maxGroundHeight = 0.0f);
210 
211 } // namespace util3d
212 } // namespace rtabmap
213 
214 #include "rtabmap/core/impl/util3d_mapping.hpp"
215 
216 #endif /* UTIL3D_MAPPING_H_ */
rtabmap::util3d::erodeMap
cv::Mat RTABMAP_EXP erodeMap(const cv::Mat &map)
Definition: util3d_mapping.cpp:1000
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:580
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::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_EXP
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
rtabmap::util3d::convertImage8U2Map
cv::Mat RTABMAP_EXP convertImage8U2Map(const cv::Mat &map8U, bool pgmFormat=false)
Definition: util3d_mapping.cpp:949
util3d_mapping.hpp
rtabmap::util3d::convertMap2Image8U
cv::Mat RTABMAP_EXP convertMap2Image8U(const cv::Mat &map8S, bool pgmFormat=false)
Definition: util3d_mapping.cpp:908
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:306
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, float groundNormalsUp)
Definition: util3d_mapping.hpp:54
rtabmap::util3d::rayTrace
void RTABMAP_EXP rayTrace(const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)
Definition: util3d_mapping.cpp:826
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:231

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:38:58