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Export: added random sample filter, added proportional radius filter, refactored when normals are computed (now after the clouds are assembled and voxelized), moved ceiling and floor filtering inside assembling loop.

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This commit is contained in:
matlabbe
2022-01-14 13:36:01 -05:00
parent 12c2dd707c
commit 9e0173f4cb
8 changed files with 796 additions and 263 deletions
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105
corelib/include/rtabmap/core/util3d_filtering.h
View File

@@ -160,9 +160,21 @@ inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP randomSampling(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
int samples);
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP randomSampling(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
int samples);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP randomSampling(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
int samples);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP randomSampling(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
int samples);
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP randomSampling(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
int samples);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP randomSampling(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
int samples);
pcl::IndicesPtr RTABMAP_EXP passThrough(
@@ -449,6 +461,99 @@ pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
float radiusSearch,
int minNeighborsInRadius);
/* for convenience */
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
/**
* @brief Filter points based on distance from their viewpoint.
*
* @param cloud the input cloud.
* @param indices the input indices of the cloud to check, if empty, all points in the cloud are checked.
* @param viewpointIndices should be same size than the input cloud, it tells the viewpoint index in viewpoints for each point.
* @param viewpoints the viewpoints.
* @param factor will determine the search radius based on the distance from a point and its viewpoint. Setting it higher will filter points farther from accurate points (but processing time will be also higher).
* @param neighborScale will scale the search radius of neighbors found around a point. Setting it higher will accept more noisy points close to accurate points (but processing time will be also higher).
* @return the indices of the points satisfying the parameters.
*/
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
pcl::IndicesPtr RTABMAP_EXP proportionalRadiusFiltering(
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
const pcl::IndicesPtr & indices,
const std::vector<int> & viewpointIndices,
const std::map<int, Transform> & viewpoints,
float factor,
float neighborScale=1.0f);
/**
* For convenience.
*/

5
corelib/include/rtabmap/core/util3d_surface.h
View File

@@ -487,6 +487,11 @@ void RTABMAP_EXP adjustNormalsToViewPoints(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
const std::vector<int> & rawCameraIndices,
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
void RTABMAP_EXP adjustNormalsToViewPoints(
const std::map<int, Transform> & poses,
const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
const std::vector<int> & rawCameraIndices,
pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
void RTABMAP_EXP adjustNormalsToViewPoints(
const std::map<int, Transform> & viewpoints,