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Coloring scan (camera projection on point cloud) (#693)

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* ExportClouds: Added camera projection options

* ExportClouds: fixed ceiling/floor filtering options not saved in config

* ExportClouds: fixed colorless scan points still exported when option is unchecked.

* Export tool: added --bin, --poses, --images, --las and --cam_projection options; export with intensity with --scan option. PDALWriter: added binary option (only used for PLY an PCD formats). Rtabmap: Do graph optimization if neighbor link refined and Mem/UseOdomGravity is used.
This commit is contained in:
matlabbe
2021-03-01 09:56:37 -05:00
committed by GitHub
parent 967c57d165
commit d119487dd7
9 changed files with 1334 additions and 192 deletions
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10
corelib/include/rtabmap/core/PDALWriter.h
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@@ -35,11 +35,11 @@ namespace rtabmap {
std::string getPDALSupportedWriters();
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZ> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZI> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZINormal> & cloud);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZ> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZI> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
}

28
corelib/include/rtabmap/core/util3d.h
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@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
#include <rtabmap/core/ProgressState.h>
#include <map>
#include <list>
@@ -300,6 +301,33 @@ void RTABMAP_EXP fillProjectedCloudHoles(
bool verticalDirection,
bool fillToBorder);
/**
* For each point, return pixel of the best camera (NodeID->CameraIndex)
* looking at it based on the policy and parameters
*/
std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_EXP projectCloudToCameras (
const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
const std::map<int, Transform> & cameraPoses,
const std::map<int, std::vector<CameraModel> > & cameraModels,
float maxDistance = 0.0f,
float maxAngle = 0.0f,
const std::vector<float> & roiRatios = std::vector<float>(),
bool distanceToCamPolicy = false,
const ProgressState * state = 0);
/**
* For each point, return pixel of the best camera (NodeID->CameraIndex)
* looking at it based on the policy and parameters
*/
std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_EXP projectCloudToCameras (
const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
const std::map<int, Transform> & cameraPoses,
const std::map<int, std::vector<CameraModel> > & cameraModels,
float maxDistance = 0.0f,
float maxAngle = 0.0f,
const std::vector<float> & roiRatios = std::vector<float>(),
bool distanceToCamPolicy = false,
const ProgressState * state = 0);
bool RTABMAP_EXP isFinite(const cv::Point3f & pt);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP concatenateClouds(