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Coloring scan (camera projection on point cloud) #693

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merged 6 commits into from
Mar 1, 2021
Merged

Coloring scan (camera projection on point cloud) #693

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8cb3ca4
ExportClouds: Added camera projection options
matlabbe Feb 21, 2021
7a8b884
ExportClouds: fixed ceiling/floor filtering options not saved in config
matlabbe Feb 23, 2021
82a5011
Merge branch 'master' of https://github.com/introlab/rtabmap into col…
matlabbe Feb 24, 2021
14cc7da
ExportClouds: fixed colorless scan points still exported when option …
matlabbe Feb 24, 2021
b635a9c
Export tool: added --bin, --poses, --images, --las and --cam_projecti…
matlabbe Feb 28, 2021
b820511
Merge branch 'master' of https://github.com/introlab/rtabmap into col…
matlabbe Feb 28, 2021
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10 changes: 5 additions & 5 deletions corelib/include/rtabmap/core/PDALWriter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

}

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28 changes: 28 additions & 0 deletions corelib/include/rtabmap/core/util3d.h
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Expand Up @@ -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>

Expand Down Expand Up @@ -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(
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