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0.16.1: Added LaserScan class with new "format" field to distinguish easier between all kind of laser scans (XYZ, XYZRGB, XYZI, XYZNormal...)
This commit is contained in:
matlabbe
@@ -161,7 +161,7 @@ public:
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void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
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bool getCalibration(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const;
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bool getLaserScanInfo(int signatureId, LaserScanInfo & info) const;
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bool getLaserScanInfo(int signatureId, LaserScan & info) const;
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bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const;
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void loadLinks(int signatureId, std::map<int, Link> & links, Link::Type type = Link::kUndef) const;
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void getWeight(int signatureId, int & weight) const;
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@@ -257,7 +257,7 @@ private:
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virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
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virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, StereoCameraModel & stereoModel) const = 0;
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virtual bool getLaserScanInfoQuery(int signatureId, LaserScanInfo & info) const = 0;
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virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
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virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps) const = 0;
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virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures) const = 0;
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virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks) const = 0;
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93
corelib/include/rtabmap/core/LaserScan.h
Normal file
93
corelib/include/rtabmap/core/LaserScan.h
Normal file
@@ -0,0 +1,93 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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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.
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||||
* 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
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||||
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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||||
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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||||
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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||||
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
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#define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
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#include <rtabmap/core/Transform.h>
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namespace rtabmap {
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class LaserScan
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{
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public:
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enum Format{kUnknown=0,
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kXY=1,
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kXYI=2,
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kXYNormal=3,
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kXYINormal=4,
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kXYZ=5,
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kXYZI=6,
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kXYZRGB=7,
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kXYZNormal=8,
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kXYZINormal=9,
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kXYZRGBNormal=10};
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static int channels(Format format);
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static bool isScan2d(const Format & format);
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static bool isScanHasNormals(const Format & format);
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static bool isScanHasRGB(const Format & format);
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static bool isScanHasIntensity(const Format & format);
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static LaserScan backwardCompatibility(const cv::Mat & oldScanFormat, int maxPoints = 0, int maxRange = 0, const Transform & localTransform = Transform::getIdentity());
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public:
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LaserScan();
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LaserScan(const cv::Mat & data, int maxPoints, float maxRange, Format format, const Transform & localTransform = Transform::getIdentity());
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const cv::Mat & data() const {return data_;}
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int maxPoints() const {return maxPoints_;}
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float maxRange() const {return maxRange_;}
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Format format() const {return format_;}
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Transform localTransform() const {return localTransform_;}
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bool isEmpty() const {return data_.empty();}
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int size() const {return data_.cols;}
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int dataType() const {return data_.type();}
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bool is2d() const {return isScan2d(format_);}
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bool hasNormals() const {return isScanHasNormals(format_);}
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bool hasRGB() const {return isScanHasRGB(format_);}
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bool hasIntensity() const {return isScanHasIntensity(format_);}
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bool isCompressed() const {return !data_.empty() && data_.type()==CV_8UC1;}
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LaserScan clone() const {return LaserScan(data_.clone(), maxPoints_, maxRange_, format_, localTransform_.clone());}
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int getIntensityOffset() const {return hasIntensity()?(is2d()?2:3):-1;}
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int getRGBOffset() const {return hasRGB()?(is2d()?2:3):-1;}
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int getNormalsOffset() const {return hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}
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void clear() {data_ = cv::Mat();}
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private:
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cv::Mat data_;
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int maxPoints_;
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float maxRange_;
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Format format_;
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Transform localTransform_;
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};
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}
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#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */
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@@ -1,65 +0,0 @@
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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||||
|
||||
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
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||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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||||
*/
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#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASERSCANINFO_H_
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#define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCANINFO_H_
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#include <rtabmap/utilite/ULogger.h>
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namespace rtabmap {
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class LaserScanInfo
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{
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public:
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LaserScanInfo() :
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maxPoints_(0),
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maxRange_(0),
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localTransform_(Transform::getIdentity())
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{
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}
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LaserScanInfo(int maxPoints, float maxRange, const Transform & localTransform = Transform::getIdentity()) :
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maxPoints_(maxPoints),
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maxRange_(maxRange),
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localTransform_(localTransform)
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{
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UASSERT(!localTransform.isNull());
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}
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int maxPoints() const {return maxPoints_;}
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float maxRange() const {return maxRange_;}
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Transform localTransform() const {return localTransform_;}
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private:
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int maxPoints_;
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float maxRange_;
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Transform localTransform_;
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};
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}
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#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCANINFO_H_ */
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@@ -46,7 +46,7 @@ public:
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float getCellSize() const {return cellSize_;}
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void setCloudAssembling(bool enabled);
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float getMinMapSize() const {return minMapSize_;}
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bool isGridFromDepth() const {return occupancyFromCloud_;}
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bool isGridFromDepth() const {return occupancyFromDepth_;}
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bool isFullUpdate() const {return fullUpdate_;}
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float getUpdateError() const {return updateError_;}
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bool isMapFrameProjection() const {return projMapFrame_;}
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@@ -122,7 +122,7 @@ private:
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int scanDecimation_;
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float cellSize_;
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bool preVoxelFiltering_;
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bool occupancyFromCloud_;
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bool occupancyFromDepth_;
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bool projMapFrame_;
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float maxObstacleHeight_;
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int normalKSearch_;
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@@ -32,6 +32,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include "rtabmap/core/Transform.h"
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#include "rtabmap/core/RegistrationInfo.h"
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#include "rtabmap/core/CameraModel.h"
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#include "rtabmap/core/LaserScan.h"
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#include <opencv2/features2d/features2d.hpp>
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namespace rtabmap {
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@@ -113,7 +114,7 @@ public:
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// F2M
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std::multimap<int, cv::KeyPoint> words;
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std::map<int, cv::Point3f> localMap;
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cv::Mat localScanMap;
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LaserScan localScanMap;
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// F2F
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std::vector<cv::Point2f> refCorners;
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@@ -33,10 +33,10 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#include <rtabmap/core/CameraModel.h>
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#include <rtabmap/core/StereoCameraModel.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/core/LaserScanInfo.h>
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#include <rtabmap/core/GeodeticCoords.h>
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#include <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <rtabmap/core/LaserScan.h>
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namespace rtabmap
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{
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@@ -76,8 +76,7 @@ public:
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// RGB-D constructor + laser scan
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SensorData(
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const cv::Mat & laserScan,
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const LaserScanInfo & laserScanInfo,
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const LaserScan & laserScan,
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const cv::Mat & rgb,
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const cv::Mat & depth,
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const CameraModel & cameraModel,
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@@ -96,8 +95,7 @@ public:
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// Multi-cameras RGB-D constructor + laser scan
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SensorData(
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const cv::Mat & laserScan,
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const LaserScanInfo & laserScanInfo,
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const LaserScan & laserScan,
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const cv::Mat & rgb,
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const cv::Mat & depth,
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const std::vector<CameraModel> & cameraModels,
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@@ -116,8 +114,7 @@ public:
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// Stereo constructor + laser scan
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SensorData(
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const cv::Mat & laserScan,
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const LaserScanInfo & laserScanInfo,
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const LaserScan & laserScan,
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const cv::Mat & left,
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const cv::Mat & right,
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const StereoCameraModel & cameraModel,
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@@ -134,8 +131,8 @@ public:
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_imageCompressed.empty() &&
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_depthOrRightRaw.empty() &&
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_depthOrRightCompressed.empty() &&
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_laserScanRaw.empty() &&
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_laserScanCompressed.empty() &&
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_laserScanRaw.isEmpty() &&
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_laserScanCompressed.isEmpty() &&
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_cameraModels.size() == 0 &&
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!_stereoCameraModel.isValidForProjection() &&
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_userDataRaw.empty() &&
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@@ -148,18 +145,17 @@ public:
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void setId(int id) {_id = id;}
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double stamp() const {return _stamp;}
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void setStamp(double stamp) {_stamp = stamp;}
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const LaserScanInfo & laserScanInfo() const {return _laserScanInfo;}
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const cv::Mat & imageCompressed() const {return _imageCompressed;}
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const cv::Mat & depthOrRightCompressed() const {return _depthOrRightCompressed;}
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const cv::Mat & laserScanCompressed() const {return _laserScanCompressed;}
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const LaserScan & laserScanCompressed() const {return _laserScanCompressed;}
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const cv::Mat & imageRaw() const {return _imageRaw;}
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const cv::Mat & depthOrRightRaw() const {return _depthOrRightRaw;}
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const cv::Mat & laserScanRaw() const {return _laserScanRaw;}
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const LaserScan & laserScanRaw() const {return _laserScanRaw;}
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void setImageRaw(const cv::Mat & imageRaw) {_imageRaw = imageRaw;}
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void setDepthOrRightRaw(const cv::Mat & depthOrImageRaw) {_depthOrRightRaw =depthOrImageRaw;}
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void setLaserScanRaw(const cv::Mat & laserScanRaw, const LaserScanInfo & info) {_laserScanRaw =laserScanRaw;_laserScanInfo = info;}
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void setLaserScanRaw(const LaserScan & laserScanRaw) {_laserScanRaw =laserScanRaw;}
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void setCameraModel(const CameraModel & model) {_cameraModels.clear(); _cameraModels.push_back(model);}
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void setCameraModels(const std::vector<CameraModel> & models) {_cameraModels = models;}
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void setStereoCameraModel(const StereoCameraModel & stereoCameraModel) {_stereoCameraModel = stereoCameraModel;}
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@@ -172,7 +168,7 @@ public:
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void uncompressData(
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cv::Mat * imageRaw,
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cv::Mat * depthOrRightRaw,
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cv::Mat * laserScanRaw = 0,
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LaserScan * laserScanRaw = 0,
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cv::Mat * userDataRaw = 0,
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cv::Mat * groundCellsRaw = 0,
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cv::Mat * obstacleCellsRaw = 0,
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@@ -180,7 +176,7 @@ public:
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void uncompressDataConst(
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cv::Mat * imageRaw,
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cv::Mat * depthOrRightRaw,
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cv::Mat * laserScanRaw = 0,
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LaserScan * laserScanRaw = 0,
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cv::Mat * userDataRaw = 0,
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cv::Mat * groundCellsRaw = 0,
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cv::Mat * obstacleCellsRaw = 0,
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@@ -238,7 +234,7 @@ public:
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const GPS & gps() const {return gps_;}
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long getMemoryUsed() const; // Return memory usage in Bytes
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void clearCompressedData() {_imageCompressed=cv::Mat(); _depthOrRightCompressed=cv::Mat(); _laserScanCompressed=cv::Mat(); _userDataCompressed=cv::Mat();}
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void clearCompressedData() {_imageCompressed=cv::Mat(); _depthOrRightCompressed=cv::Mat(); _laserScanCompressed.clear(); _userDataCompressed=cv::Mat();}
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bool isPointVisibleFromCameras(const cv::Point3f & pt) const; // assuming point is in robot frame
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@@ -248,17 +244,15 @@ private:
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cv::Mat _imageCompressed; // compressed image
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cv::Mat _depthOrRightCompressed; // compressed image
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cv::Mat _laserScanCompressed; // compressed data
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LaserScan _laserScanCompressed; // compressed data
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cv::Mat _imageRaw; // CV_8UC1 or CV_8UC3
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cv::Mat _depthOrRightRaw; // depth CV_16UC1 or CV_32FC1, right image CV_8UC1
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cv::Mat _laserScanRaw; // CV_32FC2 or CV_32FC3
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LaserScan _laserScanRaw;
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std::vector<CameraModel> _cameraModels;
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StereoCameraModel _stereoCameraModel;
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LaserScanInfo _laserScanInfo;
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// user data
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cv::Mat _userDataCompressed; // compressed data
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cv::Mat _userDataRaw;
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@@ -136,9 +136,7 @@ class RTABMAP_EXP Statistics
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RTABMAP_STATS(TimingMem, Add_new_words, ms);
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RTABMAP_STATS(TimingMem, Compressing_data, ms);
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RTABMAP_STATS(TimingMem, Post_decimation, ms);
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RTABMAP_STATS(TimingMem, Scan_downsampling, ms);
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RTABMAP_STATS(TimingMem, Scan_voxel_filtering, ms);
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RTABMAP_STATS(TimingMem, Scan_normals, ms);
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RTABMAP_STATS(TimingMem, Scan_filtering, ms);
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RTABMAP_STATS(TimingMem, Occupancy_grid, ms);
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RTABMAP_STATS(Keypoint, Dictionary_size, words);
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@@ -83,8 +83,6 @@ void segmentObstaclesFromGround(
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normalKSearch,
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viewPoint);
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UDEBUG("cloud=%d, indices=%d flatSurfaces=%d", (int)cloud->size(), (int)indices->size(), (int)flatSurfaces->size());
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if(segmentFlatObstacles && flatSurfaces->size())
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{
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int biggestFlatSurfaceIndex;
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@@ -95,7 +93,6 @@ void segmentObstaclesFromGround(
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minClusterSize,
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std::numeric_limits<int>::max(),
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&biggestFlatSurfaceIndex);
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UDEBUG("clusteredFlatSurfaces=%d", (int)clusteredFlatSurfaces.size());
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// cluster all surfaces for which the centroid is in the Z-range of the bigger surface
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if(clusteredFlatSurfaces.size())
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@@ -139,8 +136,6 @@ void segmentObstaclesFromGround(
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ground = flatSurfaces;
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}
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UDEBUG("ground=%d", (int)ground->size());
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if(ground->size() != cloud->size())
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{
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// Remove ground
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||||
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@@ -196,6 +196,7 @@ pcl::PointCloud<pcl::PointXYZ> RTABMAP_EXP laserScanFromDepthImages(
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float maxDepth,
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float minDepth);
|
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|
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LaserScan RTABMAP_EXP laserScanFromPointCloud(const pcl::PCLPointCloud2 & cloud);
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// return CV_32FC3 (x,y,z)
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cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
|
||||
// return CV_32FC6 (x,y,z,normal_x,normal_y,normal_z)
|
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@@ -204,34 +205,55 @@ cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ>
|
||||
// return CV_32FC4 (x,y,z,rgb)
|
||||
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform());
|
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cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
|
||||
// return CV_32FC4 (x,y,z,I)
|
||||
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform());
|
||||
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform());
|
||||
// return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)
|
||||
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
|
||||
// return CV_32FC7 (x,y,z,rgb,normal_x,normal_y,normal_z)
|
||||
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform());
|
||||
// return CV_32FC7 (x,y,z,I,normal_x,normal_y,normal_z)
|
||||
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
|
||||
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform());
|
||||
// return CV_32FC2 (x,y)
|
||||
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform());
|
||||
// return CV_32FC3 (x,y,I)
|
||||
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform());
|
||||
// return CV_32FC5 (x,y,normal_x, normal_y, normal_z)
|
||||
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform());
|
||||
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
|
||||
// For laserScan of type CV_32FC2, z is set to null.
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const cv::Mat & laserScan, const Transform & transform = Transform());
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
|
||||
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const cv::Mat & laserScan, const Transform & transform = Transform());
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const cv::Mat & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP laserScanToPointCloudRGBNormal(const cv::Mat & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
|
||||
// return CV_32FC6 (x,y,I,normal_x, normal_y, normal_z)
|
||||
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform());
|
||||
cv::Mat RTABMAP_EXP laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform());
|
||||
|
||||
// For laserScan of type CV_32FC2, z is set to null.
|
||||
pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const cv::Mat & laserScan, int index);
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
|
||||
pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const cv::Mat & laserScan, int index);
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
|
||||
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const cv::Mat & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC6, rgb is set to default r,g,b parameters.
|
||||
// For laserScan of type CV_32FC2, CV_32FC3 and CV_32FC4, normals are set to null.
|
||||
pcl::PointXYZRGBNormal RTABMAP_EXP laserScanToPointRGBNormal(const cv::Mat & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
|
||||
// For 2d laserScan, z is set to null.
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
|
||||
// For laserScan without normals, normals are set to null.
|
||||
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
|
||||
// For laserScan without rgb, rgb is set to default r,g,b parameters.
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
|
||||
// For laserScan without intensity, intensity is set to intensity parameter.
|
||||
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
|
||||
// For laserScan without rgb, rgb is set to default r,g,b parameters.
|
||||
// For laserScan without normals, normals are set to null.
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
|
||||
// For laserScan without intensity, intensity is set to default intensity parameter.
|
||||
// For laserScan without normals, normals are set to null.
|
||||
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
|
||||
|
||||
// For 2d laserScan, z is set to null.
|
||||
pcl::PointXYZ RTABMAP_EXP laserScanToPoint(const LaserScan & laserScan, int index);
|
||||
// For laserScan without normals, normals are set to null.
|
||||
pcl::PointNormal RTABMAP_EXP laserScanToPointNormal(const LaserScan & laserScan, int index);
|
||||
// For laserScan without rgb, rgb is set to default r,g,b parameters.
|
||||
pcl::PointXYZRGB RTABMAP_EXP laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 255, unsigned char g = 255, unsigned char b = 255);
|
||||
// For laserScan without intensity, intensity is set to intensity parameter.
|
||||
pcl::PointXYZI RTABMAP_EXP laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
|
||||
// For laserScan without rgb, rgb is set to default r,g,b parameters.
|
||||
// For laserScan without normals, normals are set to null.
|
||||
pcl::PointXYZRGBNormal RTABMAP_EXP laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
|
||||
// For laserScan without intensity, intensity is set to default intensity parameter.
|
||||
// For laserScan without normals, normals are set to null.
|
||||
pcl::PointXYZINormal RTABMAP_EXP laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
|
||||
|
||||
void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
|
||||
void RTABMAP_EXP getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
|
||||
@@ -316,22 +338,22 @@ void RTABMAP_EXP savePCDWords(
|
||||
const std::multimap<int, cv::Point3f> & words,
|
||||
const Transform & transform = Transform::getIdentity());
|
||||
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadBINCloud(const std::string & fileName, int dim);
|
||||
/**
|
||||
* Assume KITTI velodyne format
|
||||
* Return scan 4 channels (format=XYZI).
|
||||
*/
|
||||
cv::Mat RTABMAP_EXP loadBINScan(const std::string & fileName);
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadBINCloud(const std::string & fileName);
|
||||
RTABMAP_DEPRECATED(pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadBINCloud(const std::string & fileName, int dim), "Use interface without dim argument.");
|
||||
|
||||
// Load *.pcd, *.ply or *.bin (KITTI format) with optional filtering.
|
||||
// If normals are computed (normalsK>0), the returned scan type is CV_32FC6 instead of CV_32FC3
|
||||
cv::Mat RTABMAP_EXP loadScan(
|
||||
// Load *.pcd, *.ply or *.bin (KITTI format).
|
||||
LaserScan RTABMAP_EXP loadScan(const std::string & path);
|
||||
|
||||
RTABMAP_DEPRECATED(pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadCloud(
|
||||
const std::string & path,
|
||||
const Transform & transform = Transform::getIdentity(),
|
||||
int downsampleStep = 1,
|
||||
float voxelSize = 0.0f,
|
||||
int normalsK = 0);
|
||||
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP loadCloud(
|
||||
const std::string & path,
|
||||
const Transform & transform = Transform::getIdentity(),
|
||||
int downsampleStep = 1,
|
||||
float voxelSize = 0.0f);
|
||||
float voxelSize = 0.0f), "Use loadScan() instead.");
|
||||
|
||||
} // namespace util3d
|
||||
} // namespace rtabmap
|
||||
|
||||
@@ -30,11 +30,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
|
||||
#include <rtabmap/core/RtabmapExp.h>
|
||||
#include <rtabmap/core/Transform.h>
|
||||
|
||||
#include <pcl/point_cloud.h>
|
||||
#include <pcl/point_types.h>
|
||||
#include <pcl/pcl_base.h>
|
||||
#include <pcl/ModelCoefficients.h>
|
||||
#include <rtabmap/core/LaserScan.h>
|
||||
|
||||
namespace rtabmap
|
||||
{
|
||||
@@ -42,13 +42,29 @@ namespace rtabmap
|
||||
namespace util3d
|
||||
{
|
||||
|
||||
cv::Mat RTABMAP_EXP rangeFiltering(
|
||||
const cv::Mat & scan,
|
||||
/**
|
||||
* Do some filtering approaches and try to
|
||||
* avoid converting between pcl and opencv and to avoid not needed
|
||||
* operations like computing normals while the scan has already
|
||||
* normals and voxel filtering is not used.
|
||||
*/
|
||||
void RTABMAP_EXP commonFiltering(
|
||||
LaserScan & scan,
|
||||
int downsamplingStep,
|
||||
float rangeMin = 0.0f,
|
||||
float rangeMax = 0.0f,
|
||||
float voxelSize = 0.0f,
|
||||
int normalK = 0,
|
||||
float normalRadius = 0.0f,
|
||||
bool forceGroundNormalsUp = false);
|
||||
|
||||
LaserScan RTABMAP_EXP rangeFiltering(
|
||||
const LaserScan & scan,
|
||||
float rangeMin,
|
||||
float rangeMax);
|
||||
|
||||
cv::Mat RTABMAP_EXP downsample(
|
||||
const cv::Mat & cloud,
|
||||
LaserScan RTABMAP_EXP downsample(
|
||||
const LaserScan & cloud,
|
||||
int step);
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP downsample(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
@@ -79,6 +95,10 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
float voxelSize);
|
||||
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
float voxelSize);
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP voxelize(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
float voxelSize);
|
||||
@@ -91,6 +111,9 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP voxelize(
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP voxelize(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
|
||||
float voxelSize);
|
||||
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP voxelize(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
float voxelSize);
|
||||
|
||||
inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
|
||||
@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <rtabmap/core/Transform.h>
|
||||
#include <rtabmap/core/CameraModel.h>
|
||||
#include <rtabmap/core/ProgressState.h>
|
||||
#include <rtabmap/core/LaserScan.h>
|
||||
#include <set>
|
||||
#include <list>
|
||||
|
||||
@@ -226,6 +227,11 @@ pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
|
||||
int searchK = 20,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
int searchK = 20,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
@@ -238,17 +244,33 @@ pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
|
||||
int searchK = 20,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
int searchK = 20,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals2D(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
int searchK = 5,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals2D(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
int searchK = 5,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals2D(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
int searchK = 5,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals2D(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
int searchK = 5,
|
||||
float searchRadius = 0.0f,
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
|
||||
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals(
|
||||
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
|
||||
@@ -263,7 +285,7 @@ pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals(
|
||||
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
|
||||
|
||||
float RTABMAP_EXP computeNormalsComplexity(
|
||||
const cv::Mat & scan,
|
||||
const LaserScan & scan,
|
||||
cv::Mat * pcaEigenVectors = 0,
|
||||
cv::Mat * pcaEigenValues = 0);
|
||||
float RTABMAP_EXP computeNormalsComplexity(
|
||||
@@ -304,6 +326,10 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
|
||||
float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
|
||||
int dilationIterations = 0); // VOXEL_GRID_DILATION
|
||||
|
||||
LaserScan RTABMAP_EXP adjustNormalsToViewPoint(
|
||||
const LaserScan & scan,
|
||||
const Eigen::Vector3f & viewpoint,
|
||||
bool forceGroundNormalsUp);
|
||||
void RTABMAP_EXP adjustNormalsToViewPoint(
|
||||
pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
|
||||
const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
|
||||
|
||||
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
#include <pcl/point_types.h>
|
||||
#include <pcl/pcl_base.h>
|
||||
#include <rtabmap/core/Transform.h>
|
||||
#include <rtabmap/core/LaserScan.h>
|
||||
|
||||
namespace rtabmap
|
||||
{
|
||||
@@ -41,15 +42,15 @@ namespace rtabmap
|
||||
namespace util3d
|
||||
{
|
||||
|
||||
cv::Mat RTABMAP_EXP transformLaserScan(
|
||||
const cv::Mat & laserScan,
|
||||
LaserScan RTABMAP_EXP transformLaserScan(
|
||||
const LaserScan & laserScan,
|
||||
const Transform & transform);
|
||||
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
const Transform & transform);
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
const Transform & transform);
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
|
||||
@@ -60,13 +61,16 @@ pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
|
||||
const Transform & transform);
|
||||
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
|
||||
const Transform & transform);
|
||||
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
const Transform & transform);
|
||||
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
|
||||
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
const Transform & transform);
|
||||
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
@@ -81,6 +85,10 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
const Transform & transform);
|
||||
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_EXP transformPointCloud(
|
||||
const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
|
||||
const pcl::IndicesPtr & indices,
|
||||
const Transform & transform);
|
||||
|
||||
cv::Point3f RTABMAP_EXP transformPoint(
|
||||
const cv::Point3f & pt,
|
||||
@@ -88,6 +96,9 @@ cv::Point3f RTABMAP_EXP transformPoint(
|
||||
pcl::PointXYZ RTABMAP_EXP transformPoint(
|
||||
const pcl::PointXYZ & pt,
|
||||
const Transform & transform);
|
||||
pcl::PointXYZI RTABMAP_EXP transformPoint(
|
||||
const pcl::PointXYZI & pt,
|
||||
const Transform & transform);
|
||||
pcl::PointXYZRGB RTABMAP_EXP transformPoint(
|
||||
const pcl::PointXYZRGB & pt,
|
||||
const Transform & transform);
|
||||
@@ -97,6 +108,9 @@ pcl::PointNormal RTABMAP_EXP transformPoint(
|
||||
pcl::PointXYZRGBNormal RTABMAP_EXP transformPoint(
|
||||
const pcl::PointXYZRGBNormal & point,
|
||||
const Transform & transform);
|
||||
pcl::PointXYZINormal RTABMAP_EXP transformPoint(
|
||||
const pcl::PointXYZINormal & point,
|
||||
const Transform & transform);
|
||||
|
||||
} // namespace util3d
|
||||
} // namespace rtabmap
|
||||
|
||||
Reference in New Issue
Block a user