util3d.h

/*
Copyright (c) 2010-2025, 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_H_
#define UTIL3D_H_
 
#include "rtabmap/core/rtabmap_core_export.h"
 
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/pcl_base.h>
#include <pcl/TextureMesh.h>
#include <rtabmap/core/Transform.h>
#include <rtabmap/core/SensorData.h>
#include <rtabmap/core/Parameters.h>
#include <opencv2/core/core.hpp>
#include <rtabmap/core/ProgressState.h>
#include <cstdint>
#include <map>
#include <list>
 
namespace rtabmap
{
 
// Point type carrying xyz + intensity + ring (laser line index) + time
// (per-point acquisition offset, seconds from the scan start). Matches the
// layout expected by LIO-SAM's Velodyne feature extractor so it can be fed
// directly via util3d::laserScanFromPointCloud().
struct EIGEN_ALIGN16 PointXYZIRT
{
  PCL_ADD_POINT4D;
  float intensity;
  std::uint16_t ring;
  float time;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
namespace util3d
{
 
cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(
    const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    bool bgrOrder = true);
 
cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(
    const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    bool depth16U = true);
 
void RTABMAP_CORE_EXPORT rgbdFromCloud(
    const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    cv::Mat & rgb,
    cv::Mat & depth,
    bool bgrOrder = true,
    bool depth16U = true);
 
pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(
    const cv::Mat & depthImage,
    float x, float y,
    float cx, float cy,
    float fx, float fy,
    bool smoothing,
    float depthErrorRatio = 0.02f);
 
Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(
    const cv::Size & imageSize,
    float x, float y,
    float cx, float cy,
    float fx, float fy);
 
RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    const cv::Mat & imageDepth,
    float cx, float cy,
    float fx, float fy,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    const cv::Mat & imageDepth,
    const CameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    const cv::Mat & imageDepth,
    const cv::Mat & imageDepthConfidence,
    const CameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    unsigned char confidenceThr = 0,
    std::vector<int> * validIndices = 0);
 
RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    const cv::Mat & imageRgb,
    const cv::Mat & imageDepth,
    float cx, float cy,
    float fx, float fy,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0);
 
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    const cv::Mat & imageRgb,
    const cv::Mat & imageDepth,
    const CameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
  const cv::Mat & imageRgb,
  const cv::Mat & imageDepth,
  const cv::Mat & imageDepthConfidence,
  const CameraModel & model,
  int decimation = 1,
  float maxDepth = 0.0f,
  float minDepth = 0.0f,
  unsigned char confidenceThr = 0, // 0=low, 100=high
  std::vector<int> * validIndices = 0);
 
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(
    const cv::Mat & imageDisparity,
    const StereoCameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0);
 
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(
    const cv::Mat & imageRgb,
    const cv::Mat & imageDisparity,
    const StereoCameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0);
 
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(
    const cv::Mat & imageLeft,
    const cv::Mat & imageRight,
    const StereoCameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0,
    const ParametersMap & parameters = ParametersMap());
 
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
    unsigned char confidenceThr = 0);                            // ignored for stereo
 
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
    const SensorData & sensorData,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0,
    const ParametersMap & stereoParameters = ParametersMap(),
    const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    unsigned char confidenceThr = 0);                                // ignored for stereo
 
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
    unsigned char confidenceThr = 0);                            // ignored for stereo
 
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(
    const SensorData & sensorData,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector<int> * validIndices = 0,
    const ParametersMap & stereoParameters = ParametersMap(),
    const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    unsigned char confidenceThr = 0);                            // ignored for stereo
 
pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImage(
          const cv::Mat & depthImage,
          float fx,
          float fy,
          float cx,
          float cy,
          float maxDepth = 0,
          float minDepth = 0,
          const Transform & localTransform = Transform::getIdentity());
pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImages(
    const cv::Mat & depthImages,
    const std::vector<CameraModel> & cameraModels,
    float maxDepth,
    float minDepth);
 
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
 
template<typename PointCloud2T>
LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
 
LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
 
pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
 
 
pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan & laserScan, int index);
pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan & laserScan, int index);
pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
 
void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
 
void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
 
cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    const cv::Point2f & pt,
    float disparity,
    const StereoCameraModel & model);
 
cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    const cv::Point2f & pt,
    const cv::Mat & disparity,
    const StereoCameraModel & model);
 
cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    const cv::Size & imageSize,
    const cv::Mat & cameraMatrixK,  
    const cv::Mat & laserScan,
    const rtabmap::Transform & cameraTransform);
 
cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    const cv::Size & imageSize,
    const cv::Mat & cameraMatrixK,
    const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,
    const rtabmap::Transform & cameraTransform);
 
cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    const cv::Size & imageSize,
    const cv::Mat & cameraMatrixK,                       
    const pcl::PCLPointCloud2::Ptr laserScan,
    const rtabmap::Transform & cameraTransform);
 
void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
    cv::Mat & depthRegistered,
    bool verticalDirection,
    bool fillToBorder);
 
cv::Mat RTABMAP_CORE_EXPORT filterFloor(
  const cv::Mat & depth,
  const std::vector<CameraModel> & cameraModels,
  float threshold,
  cv::Mat * depthBelow = 0);
 
std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT 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,
    float maxDepthError = 0.0f,
    const std::vector<float> & roiRatios = std::vector<float>(),
    const cv::Mat & projMask = cv::Mat(),
    bool distanceToCamPolicy = false,
    const ProgressState * state = 0);
std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT 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,
    float maxDepthError = 0.0f,
    const std::vector<float> & roiRatios = std::vector<float>(),
    const cv::Mat & projMask = cv::Mat(),
    bool distanceToCamPolicy = false,
    const ProgressState * state = 0);
 
bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt);
 
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
 
pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    const std::vector<pcl::IndicesPtr> & indices);
 
pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    const pcl::IndicesPtr & indicesA,
    const pcl::IndicesPtr & indicesB);
 
void RTABMAP_CORE_EXPORT savePCDWords(
    const std::string & fileName,
    const std::multimap<int, pcl::PointXYZ> & words,
    const Transform & transform = Transform::getIdentity());
 
void RTABMAP_CORE_EXPORT savePCDWords(
    const std::string & fileName,
    const std::multimap<int, cv::Point3f> & words,
    const Transform & transform = Transform::getIdentity());
 
cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName);
pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName);
RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName, int dim);
 
LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path);
 
RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(
    const std::string & path,
    const Transform & transform = Transform::getIdentity(),
    int downsampleStep = 1,
    float voxelSize = 0.0f);
 
LaserScan RTABMAP_CORE_EXPORT deskew(
    const LaserScan & input,
    double inputStamp,
    const rtabmap::Transform & velocity);
 
} // namespace util3d
} // namespace rtabmap
 
POINT_CLOUD_REGISTER_POINT_STRUCT(rtabmap::PointXYZIRT,
  (float, x, x)
  (float, y, y)
  (float, z, z)
  (float, intensity, intensity)
  (std::uint16_t, ring, ring)
  (float, time, time)
)
 
#include "rtabmap/core/impl/util3d.hpp"
 
#endif /* UTIL3D_H_ */