1 /*
2 * Software License Agreement (BSD License)
3 *
4 * Point Cloud Library (PCL) - www.pointclouds.org
5 * Copyright (c) 2010, Willow Garage, Inc.
6 * Copyright (c) 2012-, Open Perception, Inc.
7 *
8 * All rights reserved.
9 *
10 * Redistribution and use in source and binary forms, with or without
11 * modification, are permitted provided that the following conditions
12 * are met:
13 *
14 * * Redistributions of source code must retain the above copyright
15 * notice, this list of conditions and the following disclaimer.
16 * * Redistributions in binary form must reproduce the above
17 * copyright notice, this list of conditions and the following
18 * disclaimer in the documentation and/or other materials provided
19 * with the distribution.
20 * * Neither the name of the copyright holder(s) nor the names of its
21 * contributors may be used to endorse or promote products derived
22 * from this software without specific prior written permission.
23 *
24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35 * POSSIBILITY OF SUCH DAMAGE.
36 *
37 */
38
39 #pragma once
40
41 #include <pcl/common/eigen.h>
42 #include <pcl/range_image/range_image_planar.h>
43 #include <pcl/pcl_macros.h>
44
45 namespace pcl
46 {
47
48 /////////////////////////////////////////////////////////////////////////
49 template <typename PointCloudType> void
createFromPointCloudWithFixedSize(const PointCloudType & point_cloud,int di_width,int di_height,float di_center_x,float di_center_y,float di_focal_length_x,float di_focal_length_y,const Eigen::Affine3f & sensor_pose,CoordinateFrame coordinate_frame,float noise_level,float min_range)50 RangeImagePlanar::createFromPointCloudWithFixedSize (const PointCloudType& point_cloud,
51 int di_width, int di_height,
52 float di_center_x, float di_center_y,
53 float di_focal_length_x, float di_focal_length_y,
54 const Eigen::Affine3f& sensor_pose,
55 CoordinateFrame coordinate_frame, float noise_level,
56 float min_range)
57 {
58 //std::cout << "Starting to create range image from "<<point_cloud.size ()<<" points.\n";
59
60 width = di_width;
61 height = di_height;
62 center_x_ = di_center_x;
63 center_y_ = di_center_y;
64 focal_length_x_ = di_focal_length_x;
65 focal_length_y_ = di_focal_length_y;
66 focal_length_x_reciprocal_ = 1 / focal_length_x_;
67 focal_length_y_reciprocal_ = 1 / focal_length_y_;
68
69 is_dense = false;
70
71 getCoordinateFrameTransformation (coordinate_frame, to_world_system_);
72 to_world_system_ = sensor_pose * to_world_system_;
73
74 to_range_image_system_ = to_world_system_.inverse (Eigen::Isometry);
75
76 unsigned int size = width*height;
77 points.clear ();
78 points.resize (size, unobserved_point);
79
80 int top=height, right=-1, bottom=-1, left=width;
81 doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);
82
83 // Do not crop
84 //cropImage (border_size, top, right, bottom, left);
85
86 recalculate3DPointPositions ();
87 }
88
89
90 /////////////////////////////////////////////////////////////////////////
91 void
calculate3DPoint(float image_x,float image_y,float range,Eigen::Vector3f & point) const92 RangeImagePlanar::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const
93 {
94 //std::cout << __PRETTY_FUNCTION__ << " called.\n";
95 float delta_x = (image_x+static_cast<float> (image_offset_x_)-center_x_)*focal_length_x_reciprocal_,
96 delta_y = (image_y+static_cast<float> (image_offset_y_)-center_y_)*focal_length_y_reciprocal_;
97 point[2] = range / (::sqrt (delta_x*delta_x + delta_y*delta_y + 1));
98 point[0] = delta_x*point[2];
99 point[1] = delta_y*point[2];
100 point = to_world_system_ * point;
101 }
102
103 /////////////////////////////////////////////////////////////////////////
104 inline void
getImagePoint(const Eigen::Vector3f & point,float & image_x,float & image_y,float & range) const105 RangeImagePlanar::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const
106 {
107 Eigen::Vector3f transformedPoint = to_range_image_system_ * point;
108 if (transformedPoint[2]<=0) // Behind the observer?
109 {
110 image_x = image_y = range = -1.0f;
111 return;
112 }
113 range = transformedPoint.norm ();
114
115 image_x = center_x_ + focal_length_x_*transformedPoint[0]/transformedPoint[2] - static_cast<float> (image_offset_x_);
116 image_y = center_y_ + focal_length_y_*transformedPoint[1]/transformedPoint[2] - static_cast<float> (image_offset_y_);
117 }
118
119 } // namespace pcl
120
121