Increased version to 0.9.0. Refactoring: Split util3d.h into multiple files util3d_****.h to reduce compilation time. Also removed all PCL templates to reduce memory used while compiling.

corelib/include/rtabmap/core/util2d.h

@@ -0,0 +1,105 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef UTIL2D_H_
+#define UTIL2D_H_
+
+#include <rtabmap/core/RtabmapExp.h>
+
+#include <opencv2/core/core.hpp>
+#include <rtabmap/core/Transform.h>
+
+namespace rtabmap
+{
+
+namespace util2d
+{
+
+cv::Mat RTABMAP_EXP disparityFromStereoImages(
+		const cv::Mat & leftImage,
+		const cv::Mat & rightImage);
+
+cv::Mat RTABMAP_EXP disparityFromStereoImages(
+		const cv::Mat & leftImage,
+		const cv::Mat & rightImage,
+		const std::vector<cv::Point2f> & leftCorners,
+		int flowWinSize = 9,
+		int flowMaxLevel = 4,
+		int flowIterations = 20,
+		double flowEps = 0.02,
+		float maxCorrespondencesSlope = 0.1f);
+
+cv::Mat RTABMAP_EXP depthFromStereoImages(
+		const cv::Mat & leftImage,
+		const cv::Mat & rightImage,
+		const std::vector<cv::Point2f> & leftCorners,
+		float fx,
+		float baseline,
+		int flowWinSize = 9,
+		int flowMaxLevel = 4,
+		int flowIterations = 20,
+		double flowEps = 0.02);
+
+cv::Mat RTABMAP_EXP disparityFromStereoCorrespondences(
+		const cv::Mat & leftImage,
+		const std::vector<cv::Point2f> & leftCorners,
+		const std::vector<cv::Point2f> & rightCorners,
+		const std::vector<unsigned char> & mask,
+		float maxSlope = 0.1f);
+
+cv::Mat RTABMAP_EXP depthFromStereoCorrespondences(
+		const cv::Mat & leftImage,
+		const std::vector<cv::Point2f> & leftCorners,
+		const std::vector<cv::Point2f> & rightCorners,
+		const std::vector<unsigned char> & mask,
+		float fx, float baseline);
+
+float RTABMAP_EXP getDepth(
+		const cv::Mat & depthImage,
+		float x, float y,
+		bool smoothing,
+		float maxZError = 0.02f);
+
+cv::Mat RTABMAP_EXP decimate(const cv::Mat & image, int d);
+
+// Registration Depth to RGB
+cv::Mat RTABMAP_EXP registerDepth(
+		const cv::Mat & depth,
+		const cv::Mat & depthK,
+		const cv::Mat & colorK,
+		const rtabmap::Transform & transform);
+
+void RTABMAP_EXP fillRegisteredDepthHoles(
+		cv::Mat & depth,
+		bool vertical,
+		bool horizontal,
+		bool fillDoubleHoles = false);
+
+} // namespace util3d
+} // namespace rtabmap
+
+#endif /* UTIL2D_H_ */