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Adding util3d::cloudsFromSensorData to be able to show in DBViewer individual clouds for each camera (#1182)

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* splitting multicam generated clouds

* make sure returned cloud is valid (can be empty)
This commit is contained in:
matlabbe
2023-12-13 12:15:29 -08:00
committed by GitHub
parent f56875db4a
commit be3e6c538c
3 changed files with 277 additions and 138 deletions
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60
corelib/include/rtabmap/core/util3d.h
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@@ -144,6 +144,43 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages
std::vector<int> * validIndices = 0,
const ParametersMap & parameters = ParametersMap());
/**
* Create a XYZ cloud from the images contained in SensorData, one for each camera
*
* @param sensorData, the sensor data.
* @param decimation, images are decimated by this factor before projecting points to 3D. The factor
* should be a factor of the image width and height.
* @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
* @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
* @param validIndices, the indices of valid points in the cloud
* @param stereoParameters, stereo optional parameters (in case it is stereo data)
* @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
* @return XYZ cloud(s), one per camera
*/
std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<pcl::IndicesPtr> * validIndices = 0,
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
/**
* Create a XYZ cloud from the images contained in SensorData. If there is only one camera,
* the returned cloud is organized. Otherwise, all NaN
* points are removed and the cloud will be dense.
*
* @param sensorData, the sensor data.
* @param decimation, images are decimated by this factor before projecting points to 3D. The factor
* should be a factor of the image width and height.
* @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
* @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
* @param validIndices, the indices of valid points in the cloud
* @param stereoParameters, stereo optional parameters (in case it is stereo data)
* @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
* @return a XYZ cloud.
*/
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
const SensorData & sensorData,
int decimation = 1,
@@ -153,6 +190,28 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
/**
* Create an RGB cloud from the images contained in SensorData, one for each camera
*
* @param sensorData, the sensor data.
* @param decimation, images are decimated by this factor before projecting points to 3D. The factor
* should be a factor of the image width and height.
* @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
* @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
* @param validIndices, the indices of valid points in the cloud
* @param stereoParameters, stereo optional parameters (in case it is stereo data)
* @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
* @return RGB cloud(s), one per camera
*/
std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(
const SensorData & sensorData,
int decimation = 1,
float maxDepth = 0.0f,
float minDepth = 0.0f,
std::vector<pcl::IndicesPtr > * validIndices = 0,
const ParametersMap & stereoParameters = ParametersMap(),
const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
/**
* Create an RGB cloud from the images contained in SensorData. If there is only one camera,
* the returned cloud is organized. Otherwise, all NaN
@@ -164,6 +223,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
* @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
* @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
* @param validIndices, the indices of valid points in the cloud
* @param stereoParameters, stereo optional parameters (in case it is stereo data)
* @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
* @return a RGB cloud.
*/