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Added util3d::laserScanFomrDepthImage() and some refactoring

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Mathieu Labbe
2015-05-31 01:26:57 -04:00
parent 9e13642a47
commit bd9fb1027b
14 changed files with 177 additions and 226 deletions
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19
corelib/include/rtabmap/core/util3d.h
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@@ -117,6 +117,25 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
float voxelSize = 0.0f,
int samples = 0);
pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImage(
const cv::Mat & depthImage,
float fx,
float fy,
float cx,
float cy,
float maxDepth = 0,
const Transform & localTransform = Transform::getIdentity());
cv::Mat RTABMAP_EXP cvtDepthFromFloat(const cv::Mat & depth32F);
cv::Mat RTABMAP_EXP cvtDepthToFloat(const cv::Mat & depth16U);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cvMat2Cloud(
const cv::Mat & matrix,
const Transform & tranform = Transform::getIdentity());
pcl::PointXYZ RTABMAP_EXP projectDisparityTo3D(
const cv::Point2f & pt,
float disparity,

57
corelib/include/rtabmap/core/util3d_conversions.h
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@@ -1,57 +0,0 @@
/*
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 UTIL3D_CONVERSIONS_H_
#define UTIL3D_CONVERSIONS_H_
#include <rtabmap/core/RtabmapExp.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <opencv2/core/core.hpp>
#include <rtabmap/core/Transform.h>
namespace rtabmap
{
namespace util3d
{
cv::Mat RTABMAP_EXP cvtDepthFromFloat(const cv::Mat & depth32F);
cv::Mat RTABMAP_EXP cvtDepthToFloat(const cv::Mat & depth16U);
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP cvMat2Cloud(
const cv::Mat & matrix,
const Transform & tranform = Transform::getIdentity());
} // namespace util3d
} // namespace rtabmap
#endif /* UTIL3D_CONVERSIONS_H_ */

1
corelib/src/CMakeLists.txt
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@@ -35,7 +35,6 @@ SET(SRC_FILES
util3d_surface.cpp
util3d_features.cpp
util3d_correspondences.cpp
util3d_conversions.cpp
SensorData.cpp
Graph.cpp

1
corelib/src/Memory.cpp
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@@ -41,7 +41,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "VisualWord.h"
#include "rtabmap/core/Features2d.h"
#include "DBDriverSqlite3.h"
#include "rtabmap/core/util3d_conversions.h"
#include "rtabmap/core/util3d_features.h"
#include "rtabmap/core/util3d_filtering.h"
#include "rtabmap/core/util3d_correspondences.h"

9
corelib/src/Odometry.cpp
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@@ -95,13 +95,8 @@ Transform Odometry::process(const SensorData & data, OdometryInfo * info)
UASSERT(!data.depthOrRightRaw().empty());
}
if(data.cameraModels().size() > 1)
{
UERROR("Odometry doesn't support multi-camera yet.");
return Transform();
}
else if(!data.stereoCameraModel().isValid() &&
(data.cameraModels().size() == 0 || !data.cameraModels()[0].isValid()))
if(!data.stereoCameraModel().isValid() &&
(data.cameraModels().size() == 0 || !data.cameraModels()[0].isValid()))
{
UERROR("Rectified images required! Calibrate your camera.");
return Transform();

26
corelib/src/Rtabmap.cpp
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@@ -1413,17 +1413,21 @@ bool Rtabmap::process(
{
if(immunizedLocally >= maxLocalLocationsImmunized)
{
UWARN("Could not immunize the whole local path (%d) between "
"%d and %d (max location immunized=%d). You may want "
"to increase RGBD/LocalImmunizationRatio (current=%f (%d of WM=%d)) "
"to be able to immunize longer paths.",
(int)path.size(),
nearestId,
signature->id(),
maxLocalLocationsImmunized,
_localImmunizationRatio,
maxLocalLocationsImmunized,
(int)_memory->getWorkingMem().size());
// set 20 to avoid this warning when starting mapping
if(maxLocalLocationsImmunized > 20)
{
UWARN("Could not immunize the whole local path (%d) between "
"%d and %d (max location immunized=%d). You may want "
"to increase RGBD/LocalImmunizationRatio (current=%f (%d of WM=%d)) "
"to be able to immunize longer paths.",
(int)path.size(),
nearestId,
signature->id(),
maxLocalLocationsImmunized,
_localImmunizationRatio,
maxLocalLocationsImmunized,
(int)_memory->getWorkingMem().size());
}
break;
}
else if(!_memory->isInSTM(iter->first))

138
corelib/src/util3d.cpp
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/ULogger.h>
#include <rtabmap/utilite/UMath.h>
#include <pcl/io/pcd_io.h>
#include <pcl/common/transforms.h>
#include <opencv2/imgproc/imgproc.hpp>
namespace rtabmap
@@ -723,6 +724,143 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP cloudRGBFromSensorData(
return cloud;
}
pcl::PointCloud<pcl::PointXYZ> laserScanFromDepthImage(
const cv::Mat & depthImage,
float fx,
float fy,
float cx,
float cy,
float maxDepth,
const Transform & localTransform)
{
UASSERT(depthImage.type() == CV_16UC1 || depthImage.type() == CV_32FC1);
UASSERT(!localTransform.isNull());
pcl::PointCloud<pcl::PointXYZ> scan;
int middle = depthImage.rows/2;
if(middle)
{
scan.resize(depthImage.cols);
int oi = 0;
for(int i=0; i<depthImage.cols; ++i)
{
pcl::PointXYZ pt = util3d::projectDepthTo3D(depthImage, i, middle, cx, cy, fx, fy, false);
if(pcl::isFinite(pt) && (maxDepth == 0 || pt.z < maxDepth))
{
if(!localTransform.isIdentity())
{
pt = util3d::transformPoint(pt, localTransform);
}
scan[oi++] = pt;
}
}
scan.resize(oi);
}
return scan;
}
cv::Mat cvtDepthFromFloat(const cv::Mat & depth32F)
{
UASSERT(depth32F.empty() || depth32F.type() == CV_32FC1);
cv::Mat depth16U;
if(!depth32F.empty())
{
depth16U = cv::Mat(depth32F.rows, depth32F.cols, CV_16UC1);
for(int i=0; i<depth32F.rows; ++i)
{
for(int j=0; j<depth32F.cols; ++j)
{
float depth = (depth32F.at<float>(i,j)*1000.0f);
unsigned short depthMM = 0;
if(depth <= (float)USHRT_MAX)
{
depthMM = (unsigned short)depth;
}
depth16U.at<unsigned short>(i, j) = depthMM;
}
}
}
return depth16U;
}
cv::Mat cvtDepthToFloat(const cv::Mat & depth16U)
{
UASSERT(depth16U.empty() || depth16U.type() == CV_16UC1);
cv::Mat depth32F;
if(!depth16U.empty())
{
depth32F = cv::Mat(depth16U.rows, depth16U.cols, CV_32FC1);
for(int i=0; i<depth16U.rows; ++i)
{
for(int j=0; j<depth16U.cols; ++j)
{
float depth = float(depth16U.at<unsigned short>(i,j))/1000.0f;
depth32F.at<float>(i, j) = depth;
}
}
}
return depth32F;
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud)
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC2);
for(unsigned int i=0; i<cloud.size(); ++i)
{
laserScan.at<cv::Vec2f>(i)[0] = cloud.at(i).x;
laserScan.at<cv::Vec2f>(i)[1] = cloud.at(i).y;
}
return laserScan;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr laserScanToPointCloud(const cv::Mat & laserScan)
{
UASSERT(laserScan.empty() || laserScan.type() == CV_32FC2);
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
output->resize(laserScan.cols);
for(int i=0; i<laserScan.cols; ++i)
{
output->at(i).x = laserScan.at<cv::Vec2f>(i)[0];
output->at(i).y = laserScan.at<cv::Vec2f>(i)[1];
}
return output;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cvMat2Cloud(
const cv::Mat & matrix,
const Transform & tranform)
{
UASSERT(matrix.type() == CV_32FC2 || matrix.type() == CV_32FC3);
UASSERT(matrix.rows == 1);
Eigen::Affine3f t = tranform.toEigen3f();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(matrix.cols);
if(matrix.channels() == 2)
{
for(int i=0; i<matrix.cols; ++i)
{
cloud->at(i).x = matrix.at<cv::Vec2f>(0,i)[0];
cloud->at(i).y = matrix.at<cv::Vec2f>(0,i)[1];
cloud->at(i).z = 0.0f;
cloud->at(i) = pcl::transformPoint(cloud->at(i), t);
}
}
else // channels=3
{
for(int i=0; i<matrix.cols; ++i)
{
cloud->at(i).x = matrix.at<cv::Vec3f>(0,i)[0];
cloud->at(i).y = matrix.at<cv::Vec3f>(0,i)[1];
cloud->at(i).z = matrix.at<cv::Vec3f>(0,i)[2];
cloud->at(i) = pcl::transformPoint(cloud->at(i), t);
}
}
return cloud;
}
// inspired from ROS image_geometry/src/stereo_camera_model.cpp
pcl::PointXYZ projectDisparityTo3D(
const cv::Point2f & pt,

142
corelib/src/util3d_conversions.cpp
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@@ -1,142 +0,0 @@
/*
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.
*/
#include "rtabmap/core/util3d_conversions.h"
#include "rtabmap/utilite/ULogger.h"
#include <pcl/common/transforms.h>
namespace rtabmap
{
namespace util3d
{
cv::Mat cvtDepthFromFloat(const cv::Mat & depth32F)
{
UASSERT(depth32F.empty() || depth32F.type() == CV_32FC1);
cv::Mat depth16U;
if(!depth32F.empty())
{
depth16U = cv::Mat(depth32F.rows, depth32F.cols, CV_16UC1);
for(int i=0; i<depth32F.rows; ++i)
{
for(int j=0; j<depth32F.cols; ++j)
{
float depth = (depth32F.at<float>(i,j)*1000.0f);
unsigned short depthMM = 0;
if(depth <= (float)USHRT_MAX)
{
depthMM = (unsigned short)depth;
}
depth16U.at<unsigned short>(i, j) = depthMM;
}
}
}
return depth16U;
}
cv::Mat cvtDepthToFloat(const cv::Mat & depth16U)
{
UASSERT(depth16U.empty() || depth16U.type() == CV_16UC1);
cv::Mat depth32F;
if(!depth16U.empty())
{
depth32F = cv::Mat(depth16U.rows, depth16U.cols, CV_32FC1);
for(int i=0; i<depth16U.rows; ++i)
{
for(int j=0; j<depth16U.cols; ++j)
{
float depth = float(depth16U.at<unsigned short>(i,j))/1000.0f;
depth32F.at<float>(i, j) = depth;
}
}
}
return depth32F;
}
cv::Mat laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud)
{
cv::Mat laserScan(1, (int)cloud.size(), CV_32FC2);
for(unsigned int i=0; i<cloud.size(); ++i)
{
laserScan.at<cv::Vec2f>(i)[0] = cloud.at(i).x;
laserScan.at<cv::Vec2f>(i)[1] = cloud.at(i).y;
}
return laserScan;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr laserScanToPointCloud(const cv::Mat & laserScan)
{
UASSERT(laserScan.empty() || laserScan.type() == CV_32FC2);
pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
output->resize(laserScan.cols);
for(int i=0; i<laserScan.cols; ++i)
{
output->at(i).x = laserScan.at<cv::Vec2f>(i)[0];
output->at(i).y = laserScan.at<cv::Vec2f>(i)[1];
}
return output;
}
pcl::PointCloud<pcl::PointXYZ>::Ptr cvMat2Cloud(
const cv::Mat & matrix,
const Transform & tranform)
{
UASSERT(matrix.type() == CV_32FC2 || matrix.type() == CV_32FC3);
UASSERT(matrix.rows == 1);
Eigen::Affine3f t = tranform.toEigen3f();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->resize(matrix.cols);
if(matrix.channels() == 2)
{
for(int i=0; i<matrix.cols; ++i)
{
cloud->at(i).x = matrix.at<cv::Vec2f>(0,i)[0];
cloud->at(i).y = matrix.at<cv::Vec2f>(0,i)[1];
cloud->at(i).z = 0.0f;
cloud->at(i) = pcl::transformPoint(cloud->at(i), t);
}
}
else // channels=3
{
for(int i=0; i<matrix.cols; ++i)
{
cloud->at(i).x = matrix.at<cv::Vec3f>(0,i)[0];
cloud->at(i).y = matrix.at<cv::Vec3f>(0,i)[1];
cloud->at(i).z = matrix.at<cv::Vec3f>(0,i)[2];
cloud->at(i) = pcl::transformPoint(cloud->at(i), t);
}
}
return cloud;
}
}
}

5
corelib/src/util3d_features.cpp
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@@ -82,8 +82,9 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr generateKeypoints3DDepth(
cameraModels.at(cameraIndex).fy(),
true);
if(!cameraModels.at(cameraIndex).localTransform().isNull() &&
!cameraModels.at(cameraIndex).localTransform().isIdentity())
if(pcl::isFinite(pt) &&
!cameraModels.at(cameraIndex).localTransform().isNull() &&
!cameraModels.at(cameraIndex).localTransform().isIdentity())
{
pt = util3d::transformPoint(pt, cameraModels.at(cameraIndex).localTransform());
}

1
corelib/src/util3d_mapping.cpp
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@@ -27,7 +27,6 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/core/util3d_mapping.h"
#include <rtabmap/core/util3d_conversions.h>
#include <rtabmap/core/util3d_transforms.h>
#include <rtabmap/core/util3d_filtering.h>
#include <rtabmap/core/util3d.h>