Adding util3d::cloudsFromSensorData to be able to show in DBViewer in…

…dividual clouds for each camera (#1182)

* splitting multicam generated clouds

* make sure returned cloud is valid (can be empty)

corelib/include/rtabmap/core/util3d.h

@@ -144,6 +144,43 @@ pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages
  std::vector<int> * validIndices = 0,
  const ParametersMap & parameters = ParametersMap());
 
+/**
+ * Create a XYZ cloud from the images contained in SensorData, one for each camera
+ *
+ * @param sensorData, the sensor data.
+ * @param decimation, images are decimated by this factor before projecting points to 3D. The factor
+ * should be a factor of the image width and height.
+ * @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
+ * @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
+ * @param validIndices, the indices of valid points in the cloud
+ * @param stereoParameters, stereo optional parameters (in case it is stereo data)
+ * @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
+ * @return XYZ cloud(s), one per camera
+ */
+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
+
+/**
+ * Create a XYZ cloud from the images contained in SensorData. If there is only one camera,
+ * the returned cloud is organized. Otherwise, all NaN
+ * points are removed and the cloud will be dense.
+ *
+ * @param sensorData, the sensor data.
+ * @param decimation, images are decimated by this factor before projecting points to 3D. The factor
+ * should be a factor of the image width and height.
+ * @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
+ * @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
+ * @param validIndices, the indices of valid points in the cloud
+ * @param stereoParameters, stereo optional parameters (in case it is stereo data)
+ * @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
+ * @return a XYZ cloud.
+ */
 pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
  const SensorData & sensorData,
  int decimation = 1,
@@ -153,6 +190,28 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
  const ParametersMap & stereoParameters = ParametersMap(),
  const std::vector<float> & roiRatios = std::vector<float>()); // ignored for stereo
 
+/**
+ * Create an RGB cloud from the images contained in SensorData, one for each camera
+ *
+ * @param sensorData, the sensor data.
+ * @param decimation, images are decimated by this factor before projecting points to 3D. The factor
+ * should be a factor of the image width and height.
+ * @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
+ * @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
+ * @param validIndices, the indices of valid points in the cloud
+ * @param stereoParameters, stereo optional parameters (in case it is stereo data)
+ * @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
+ * @return RGB cloud(s), one per camera
+ */
+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
+
 /**
  * Create an RGB cloud from the images contained in SensorData. If there is only one camera,
  * the returned cloud is organized. Otherwise, all NaN
@@ -164,6 +223,7 @@ pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
  * @param maxDepth, maximum depth of the projected points (farther points are set to null in case of an organized cloud).
  * @param minDepth, minimum depth of the projected points (closer points are set to null in case of an organized cloud).
  * @param validIndices, the indices of valid points in the cloud
+ * @param stereoParameters, stereo optional parameters (in case it is stereo data)
  * @param roiRatios, [left, right, top, bottom] region of interest (in ratios) of the image projected.
  * @return a RGB cloud.
  */