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0.13.3: scan2d with normals support/registration

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matlabbe
2017-08-28 16:40:07 -04:00
parent 964a052be1
commit 52a4e8964f
28 changed files with 1029 additions and 337 deletions
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corelib/include/rtabmap/core/CameraRGB.h
+4 -1
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@@ -85,7 +85,8 @@ public:
int maxScanPts = 0,
int downsampleStep = 1,
float voxelSize = 0.0f,
int normalsK = 0, // compute normals if > 0
int normalsK = 0, // compute normals if > 0
float normalsRadius = 0, // compute normals if > 0
const Transform & localTransform=Transform::getIdentity())
{
_scanPath = dir;
@@ -93,6 +94,7 @@ public:
_scanMaxPts = maxScanPts;
_scanDownsampleStep = downsampleStep;
_scanNormalsK = normalsK;
_scanNormalsRadius = normalsRadius;
_scanVoxelSize = voxelSize;
if(_scanDownsampleStep>1)
{
@@ -158,6 +160,7 @@ private:
int _scanDownsampleStep;
float _scanVoxelSize;
int _scanNormalsK;
float _scanNormalsRadius;
bool _depthFromScan;
int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical
corelib/include/rtabmap/core/CameraThread.h
+4 -1
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@@ -73,13 +73,15 @@ public:
int decimation=4,
float maxDepth=4.0f,
float voxelSize = 0.0f,
int normalsK = 0)
int normalsK = 0,
int normalsRadius = 0.0f)
{
_scanFromDepth = enabled;
_scanDecimation=decimation;
_scanMaxDepth = maxDepth;
_scanVoxelSize = voxelSize;
_scanNormalsK = normalsK;
_scanNormalsRadius = normalsRadius;
}
void postUpdate(SensorData * data, CameraInfo * info = 0) const;
@@ -107,6 +109,7 @@ private:
float _scanMinDepth;
float _scanVoxelSize;
int _scanNormalsK;
float _scanNormalsRadius;
StereoDense * _stereoDense;
clams::DiscreteDepthDistortionModel * _distortionModel;
bool _bilateralFiltering;
corelib/include/rtabmap/core/Memory.h
+1
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@@ -283,6 +283,7 @@ private:
bool _compressionParallelized;
float _laserScanDownsampleStepSize;
int _laserScanNormalK;
int _laserScanNormalRadius;
bool _reextractLoopClosureFeatures;
float _rehearsalMaxDistance;
float _rehearsalMaxAngle;
corelib/include/rtabmap/core/Parameters.h
+4 -2
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@@ -211,7 +211,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Mem, ImagePostDecimation, int, 1, "Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).");
RTABMAP_PARAM(Mem, CompressionParallelized, bool, true, "Compression of sensor data is multi-threaded.");
RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans are 3D without normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, LaserScanNormalRadius, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
RTABMAP_PARAM(Mem, UseOdomFeatures, bool, false, "Use odometry features.");
// KeypointMemory (Keypoint-based)
@@ -510,7 +511,8 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.2, "Ratio of matching correspondences to accept the transform.");
RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
RTABMAP_PARAM(Icp, PointToPlaneNormalNeighbors, int, 20, "Number of neighbors to compute normals for point to plane.");
RTABMAP_PARAM(Icp, PointToPlaneK, int, 20, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
// libpointmatcher
RTABMAP_PARAM(Icp, PM, bool, false, "Use libpointmatcher for ICP registration instead of PCL's implementation.");
corelib/include/rtabmap/core/RegistrationIcp.h
+2 -1
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@@ -64,7 +64,8 @@ private:
float _epsilon;
float _correspondenceRatio;
bool _pointToPlane;
int _pointToPlaneNormalNeighbors;
int _pointToPlaneK;
float _pointToPlaneRadius;
bool _libpointmatcher;
std::string _libpointmatcherConfig;
float _libpointmatcherOutlierRatio;
corelib/include/rtabmap/core/util3d.h
+2
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@@ -198,6 +198,8 @@ 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());
// return CV_32FC7 (x,y,z,rgb,normal_z,normal_y,normalz)
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_z,normal_y,normalz)
cv::Mat RTABMAP_EXP laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & 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());
corelib/include/rtabmap/core/util3d_filtering.h
+6
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@@ -141,6 +141,12 @@ pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_EXP passThrough(
float min,
float max,
bool negative = false);
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP passThrough(
const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
const std::string & axis,
float min,
float max,
bool negative = false);
pcl::IndicesPtr RTABMAP_EXP cropBox(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
corelib/include/rtabmap/core/util3d_surface.h
+25 -7
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@@ -212,32 +212,50 @@ cv::Mat RTABMAP_EXP mergeTextures(
bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
const ProgressState * state = 0);
cv::Mat RTABMAP_EXP computeNormals(
const cv::Mat & laserScan,
int searchK,
float searchRadius);
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeNormals(
const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
int normalKSearch = 20,
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::PointXYZRGB>::Ptr & cloud,
int normalKSearch = 20,
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,
int normalKSearch = 20,
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::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
int normalKSearch = 20,
int searchK = 20,
float searchRadius = 0.0f,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
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 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 computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
float maxDepthChangeFactor = 0.02f,
float normalSmoothingSize = 10.0f,
const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
pcl::PointCloud<pcl::Normal>::Ptr computeFastOrganizedNormals(
pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_EXP computeFastOrganizedNormals(
const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
const pcl::IndicesPtr & indices,
float maxDepthChangeFactor = 0.02f,