Point Cloud Library (PCL) 1.12.0
range_image.hpp
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38
39#pragma once
40
41#include <pcl/range_image/range_image.h>
42
43#include <pcl/pcl_macros.h>
45#include <pcl/common/point_tests.h> // for pcl::isFinite
46#include <pcl/common/vector_average.h> // for VectorAverage3f
47
48namespace pcl
49{
50
51/////////////////////////////////////////////////////////////////////////
52inline float
54{
55 return (asin_lookup_table[
56 static_cast<int> (
57 static_cast<float> (pcl_lrintf ( (static_cast<float> (lookup_table_size-1) / 2.0f) * value)) +
58 static_cast<float> (lookup_table_size-1) / 2.0f)]);
59}
60
61/////////////////////////////////////////////////////////////////////////
62inline float
63RangeImage::atan2LookUp (float y, float x)
64{
65 if (x==0 && y==0)
66 return 0;
67 float ret;
68 if (std::abs (x) < std::abs (y))
69 {
71 static_cast<int> (
72 static_cast<float> (pcl_lrintf ( (static_cast<float> (lookup_table_size-1) / 2.0f) * (x / y))) +
73 static_cast<float> (lookup_table_size-1) / 2.0f)];
74 ret = static_cast<float> (x*y > 0 ? M_PI/2-ret : -M_PI/2-ret);
75 }
76 else
78 static_cast<int> (
79 static_cast<float> (pcl_lrintf ( (static_cast<float> (lookup_table_size-1) / 2.0f) * (y / x))) +
80 static_cast<float> (lookup_table_size-1)/2.0f)];
81 if (x < 0)
82 ret = static_cast<float> (y < 0 ? ret-M_PI : ret+M_PI);
83
84 return (ret);
85}
86
87/////////////////////////////////////////////////////////////////////////
88inline float
90{
91 int cell_idx = static_cast<int> (pcl_lrintf ( (static_cast<float> (lookup_table_size-1)) * std::abs (value) / (2.0f * static_cast<float> (M_PI))));
92 return (cos_lookup_table[cell_idx]);
93}
94
95/////////////////////////////////////////////////////////////////////////
96template <typename PointCloudType> void
97RangeImage::createFromPointCloud (const PointCloudType& point_cloud, float angular_resolution,
98 float max_angle_width, float max_angle_height,
99 const Eigen::Affine3f& sensor_pose, RangeImage::CoordinateFrame coordinate_frame,
100 float noise_level, float min_range, int border_size)
101{
102 createFromPointCloud (point_cloud, angular_resolution, angular_resolution, max_angle_width, max_angle_height,
103 sensor_pose, coordinate_frame, noise_level, min_range, border_size);
104}
105
106/////////////////////////////////////////////////////////////////////////
107template <typename PointCloudType> void
108RangeImage::createFromPointCloud (const PointCloudType& point_cloud,
109 float angular_resolution_x, float angular_resolution_y,
110 float max_angle_width, float max_angle_height,
111 const Eigen::Affine3f& sensor_pose, RangeImage::CoordinateFrame coordinate_frame,
112 float noise_level, float min_range, int border_size)
113{
114 setAngularResolution (angular_resolution_x, angular_resolution_y);
115
116 width = static_cast<std::uint32_t> (pcl_lrint (std::floor (max_angle_width*angular_resolution_x_reciprocal_)));
117 height = static_cast<std::uint32_t> (pcl_lrint (std::floor (max_angle_height*angular_resolution_y_reciprocal_)));
118
119 int full_width = static_cast<int> (pcl_lrint (std::floor (pcl::deg2rad (360.0f)*angular_resolution_x_reciprocal_))),
120 full_height = static_cast<int> (pcl_lrint (std::floor (pcl::deg2rad (180.0f)*angular_resolution_y_reciprocal_)));
121 image_offset_x_ = (full_width -static_cast<int> (width) )/2;
122 image_offset_y_ = (full_height-static_cast<int> (height))/2;
123 is_dense = false;
124
126 to_world_system_ = sensor_pose * to_world_system_;
127
128 to_range_image_system_ = to_world_system_.inverse (Eigen::Isometry);
129 //std::cout << "to_world_system_ is\n"<<to_world_system_<<"\nand to_range_image_system_ is\n"<<to_range_image_system_<<"\n\n";
130
131 unsigned int size = width*height;
132 points.clear ();
133 points.resize (size, unobserved_point);
134
135 int top=height, right=-1, bottom=-1, left=width;
136 doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);
137
138 cropImage (border_size, top, right, bottom, left);
139
141}
142
143/////////////////////////////////////////////////////////////////////////
144template <typename PointCloudType> void
145RangeImage::createFromPointCloudWithKnownSize (const PointCloudType& point_cloud, float angular_resolution,
146 const Eigen::Vector3f& point_cloud_center, float point_cloud_radius,
147 const Eigen::Affine3f& sensor_pose, RangeImage::CoordinateFrame coordinate_frame,
148 float noise_level, float min_range, int border_size)
149{
150 createFromPointCloudWithKnownSize (point_cloud, angular_resolution, angular_resolution, point_cloud_center, point_cloud_radius,
151 sensor_pose, coordinate_frame, noise_level, min_range, border_size);
152}
153
154/////////////////////////////////////////////////////////////////////////
155template <typename PointCloudType> void
156RangeImage::createFromPointCloudWithKnownSize (const PointCloudType& point_cloud,
157 float angular_resolution_x, float angular_resolution_y,
158 const Eigen::Vector3f& point_cloud_center, float point_cloud_radius,
159 const Eigen::Affine3f& sensor_pose, RangeImage::CoordinateFrame coordinate_frame,
160 float noise_level, float min_range, int border_size)
161{
162 //MEASURE_FUNCTION_TIME;
163
164 //std::cout << "Starting to create range image from "<<point_cloud.size ()<<" points.\n";
165
166 // If the sensor pose is inside of the sphere we have to calculate the image the normal way
167 if ((point_cloud_center-sensor_pose.translation()).norm() <= point_cloud_radius) {
168 createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y,
169 pcl::deg2rad (360.0f), pcl::deg2rad (180.0f),
170 sensor_pose, coordinate_frame, noise_level, min_range, border_size);
171 return;
172 }
173
174 setAngularResolution (angular_resolution_x, angular_resolution_y);
175
177 to_world_system_ = sensor_pose * to_world_system_;
178 to_range_image_system_ = to_world_system_.inverse (Eigen::Isometry);
179
180 float max_angle_size = getMaxAngleSize (sensor_pose, point_cloud_center, point_cloud_radius);
181 int pixel_radius_x = pcl_lrint (std::ceil (0.5f*max_angle_size*angular_resolution_x_reciprocal_)),
182 pixel_radius_y = pcl_lrint (std::ceil (0.5f*max_angle_size*angular_resolution_y_reciprocal_));
183 width = 2*pixel_radius_x;
184 height = 2*pixel_radius_y;
185 is_dense = false;
186
187 image_offset_x_ = image_offset_y_ = 0; // temporary values for getImagePoint
188 int center_pixel_x, center_pixel_y;
189 getImagePoint (point_cloud_center, center_pixel_x, center_pixel_y);
190 image_offset_x_ = (std::max) (0, center_pixel_x-pixel_radius_x);
191 image_offset_y_ = (std::max) (0, center_pixel_y-pixel_radius_y);
192
193 points.clear ();
195
196 int top=height, right=-1, bottom=-1, left=width;
197 doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);
198
199 cropImage (border_size, top, right, bottom, left);
200
202}
203
204/////////////////////////////////////////////////////////////////////////
205template <typename PointCloudTypeWithViewpoints> void
206RangeImage::createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints& point_cloud,
207 float angular_resolution,
208 float max_angle_width, float max_angle_height,
209 RangeImage::CoordinateFrame coordinate_frame,
210 float noise_level, float min_range, int border_size)
211{
212 createFromPointCloudWithViewpoints (point_cloud, angular_resolution, angular_resolution,
213 max_angle_width, max_angle_height, coordinate_frame,
214 noise_level, min_range, border_size);
215}
216
217/////////////////////////////////////////////////////////////////////////
218template <typename PointCloudTypeWithViewpoints> void
219RangeImage::createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints& point_cloud,
220 float angular_resolution_x, float angular_resolution_y,
221 float max_angle_width, float max_angle_height,
222 RangeImage::CoordinateFrame coordinate_frame,
223 float noise_level, float min_range, int border_size)
224{
225 Eigen::Vector3f average_viewpoint = getAverageViewPoint (point_cloud);
226 Eigen::Affine3f sensor_pose = static_cast<Eigen::Affine3f> (Eigen::Translation3f (average_viewpoint));
227 createFromPointCloud (point_cloud, angular_resolution_x, angular_resolution_y, max_angle_width, max_angle_height,
228 sensor_pose, coordinate_frame, noise_level, min_range, border_size);
229}
230
231/////////////////////////////////////////////////////////////////////////
232template <typename PointCloudType> void
233RangeImage::doZBuffer (const PointCloudType& point_cloud, float noise_level, float min_range, int& top, int& right, int& bottom, int& left)
234{
235 using PointType2 = typename PointCloudType::PointType;
236 const typename pcl::PointCloud<PointType2>::VectorType &points2 = point_cloud.points;
237
238 unsigned int size = width*height;
239 int* counters = new int[size];
240 ERASE_ARRAY (counters, size);
241
242 top=height; right=-1; bottom=-1; left=width;
243
244 float x_real, y_real, range_of_current_point;
245 int x, y;
246 for (const auto& point: points2)
247 {
248 if (!isFinite (point)) // Check for NAN etc
249 continue;
250 Vector3fMapConst current_point = point.getVector3fMap ();
251
252 this->getImagePoint (current_point, x_real, y_real, range_of_current_point);
253 this->real2DToInt2D (x_real, y_real, x, y);
254
255 if (range_of_current_point < min_range|| !isInImage (x, y))
256 continue;
257 //std::cout << " ("<<current_point[0]<<", "<<current_point[1]<<", "<<current_point[2]<<") falls into pixel "<<x<<","<<y<<".\n";
258
259 // Do some minor interpolation by checking the three closest neighbors to the point, that are not filled yet.
260 int floor_x = pcl_lrint (std::floor (x_real)), floor_y = pcl_lrint (std::floor (y_real)),
261 ceil_x = pcl_lrint (std::ceil (x_real)), ceil_y = pcl_lrint (std::ceil (y_real));
262
263 int neighbor_x[4], neighbor_y[4];
264 neighbor_x[0]=floor_x; neighbor_y[0]=floor_y;
265 neighbor_x[1]=floor_x; neighbor_y[1]=ceil_y;
266 neighbor_x[2]=ceil_x; neighbor_y[2]=floor_y;
267 neighbor_x[3]=ceil_x; neighbor_y[3]=ceil_y;
268 //std::cout << x_real<<","<<y_real<<": ";
269
270 for (int i=0; i<4; ++i)
271 {
272 int n_x=neighbor_x[i], n_y=neighbor_y[i];
273 //std::cout << n_x<<","<<n_y<<" ";
274 if (n_x==x && n_y==y)
275 continue;
276 if (isInImage (n_x, n_y))
277 {
278 int neighbor_array_pos = n_y*width + n_x;
279 if (counters[neighbor_array_pos]==0)
280 {
281 float& neighbor_range = points[neighbor_array_pos].range;
282 neighbor_range = (std::isinf (neighbor_range) ? range_of_current_point : (std::min) (neighbor_range, range_of_current_point));
283 top= (std::min) (top, n_y); right= (std::max) (right, n_x); bottom= (std::max) (bottom, n_y); left= (std::min) (left, n_x);
284 }
285 }
286 }
287 //std::cout <<std::endl;
288
289 // The point itself
290 int arrayPos = y*width + x;
291 float& range_at_image_point = points[arrayPos].range;
292 int& counter = counters[arrayPos];
293 bool addCurrentPoint=false, replace_with_current_point=false;
294
295 if (counter==0)
296 {
297 replace_with_current_point = true;
298 }
299 else
300 {
301 if (range_of_current_point < range_at_image_point-noise_level)
302 {
303 replace_with_current_point = true;
304 }
305 else if (std::fabs (range_of_current_point-range_at_image_point)<=noise_level)
306 {
307 addCurrentPoint = true;
308 }
309 }
310
311 if (replace_with_current_point)
312 {
313 counter = 1;
314 range_at_image_point = range_of_current_point;
315 top= (std::min) (top, y); right= (std::max) (right, x); bottom= (std::max) (bottom, y); left= (std::min) (left, x);
316 //std::cout << "Adding point "<<x<<","<<y<<"\n";
317 }
318 else if (addCurrentPoint)
319 {
320 ++counter;
321 range_at_image_point += (range_of_current_point-range_at_image_point)/counter;
322 }
323 }
324
325 delete[] counters;
326}
327
328/////////////////////////////////////////////////////////////////////////
329void
330RangeImage::getImagePoint (float x, float y, float z, float& image_x, float& image_y, float& range) const
331{
332 Eigen::Vector3f point (x, y, z);
333 getImagePoint (point, image_x, image_y, range);
334}
335
336/////////////////////////////////////////////////////////////////////////
337void
338RangeImage::getImagePoint (float x, float y, float z, float& image_x, float& image_y) const
339{
340 float range;
341 getImagePoint (x, y, z, image_x, image_y, range);
342}
343
344/////////////////////////////////////////////////////////////////////////
345void
346RangeImage::getImagePoint (float x, float y, float z, int& image_x, int& image_y) const
347{
348 float image_x_float, image_y_float;
349 getImagePoint (x, y, z, image_x_float, image_y_float);
350 real2DToInt2D (image_x_float, image_y_float, image_x, image_y);
351}
352
353/////////////////////////////////////////////////////////////////////////
354void
355RangeImage::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const
356{
357 Eigen::Vector3f transformedPoint = to_range_image_system_ * point;
358 range = transformedPoint.norm ();
359 float angle_x = atan2LookUp (transformedPoint[0], transformedPoint[2]),
360 angle_y = asinLookUp (transformedPoint[1]/range);
361 getImagePointFromAngles (angle_x, angle_y, image_x, image_y);
362 //std::cout << " ("<<point[0]<<","<<point[1]<<","<<point[2]<<")"
363 //<< " => ("<<transformedPoint[0]<<","<<transformedPoint[1]<<","<<transformedPoint[2]<<")"
364 //<< " => "<<angle_x<<","<<angle_y<<" => "<<image_x<<","<<image_y<<"\n";
365}
366
367/////////////////////////////////////////////////////////////////////////
368void
369RangeImage::getImagePoint (const Eigen::Vector3f& point, int& image_x, int& image_y, float& range) const {
370 float image_x_float, image_y_float;
371 getImagePoint (point, image_x_float, image_y_float, range);
372 real2DToInt2D (image_x_float, image_y_float, image_x, image_y);
373}
374
375/////////////////////////////////////////////////////////////////////////
376void
377RangeImage::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y) const
378{
379 float range;
380 getImagePoint (point, image_x, image_y, range);
381}
382
383/////////////////////////////////////////////////////////////////////////
384void
385RangeImage::getImagePoint (const Eigen::Vector3f& point, int& image_x, int& image_y) const
386{
387 float image_x_float, image_y_float;
388 getImagePoint (point, image_x_float, image_y_float);
389 real2DToInt2D (image_x_float, image_y_float, image_x, image_y);
390}
391
392/////////////////////////////////////////////////////////////////////////
393float
394RangeImage::checkPoint (const Eigen::Vector3f& point, PointWithRange& point_in_image) const
395{
396 int image_x, image_y;
397 float range;
398 getImagePoint (point, image_x, image_y, range);
399 if (!isInImage (image_x, image_y))
400 point_in_image = unobserved_point;
401 else
402 point_in_image = getPoint (image_x, image_y);
403 return range;
404}
405
406/////////////////////////////////////////////////////////////////////////
407float
408RangeImage::getRangeDifference (const Eigen::Vector3f& point) const
409{
410 int image_x, image_y;
411 float range;
412 getImagePoint (point, image_x, image_y, range);
413 if (!isInImage (image_x, image_y))
414 return -std::numeric_limits<float>::infinity ();
415 float image_point_range = getPoint (image_x, image_y).range;
416 if (std::isinf (image_point_range))
417 {
418 if (image_point_range > 0.0f)
419 return std::numeric_limits<float>::infinity ();
420 return -std::numeric_limits<float>::infinity ();
421 }
422 return image_point_range - range;
423}
424
425/////////////////////////////////////////////////////////////////////////
426void
427RangeImage::getImagePointFromAngles (float angle_x, float angle_y, float& image_x, float& image_y) const
428{
429 image_x = (angle_x*cosLookUp (angle_y) + static_cast<float> (M_PI))*angular_resolution_x_reciprocal_ - static_cast<float> (image_offset_x_);
430 image_y = (angle_y + 0.5f*static_cast<float> (M_PI))*angular_resolution_y_reciprocal_ - static_cast<float> (image_offset_y_);
431}
432
433/////////////////////////////////////////////////////////////////////////
434void
435RangeImage::real2DToInt2D (float x, float y, int& xInt, int& yInt) const
436{
437 xInt = static_cast<int> (pcl_lrintf (x));
438 yInt = static_cast<int> (pcl_lrintf (y));
439}
440
441/////////////////////////////////////////////////////////////////////////
442bool
443RangeImage::isInImage (int x, int y) const
444{
445 return (x >= 0 && x < static_cast<int> (width) && y >= 0 && y < static_cast<int> (height));
446}
447
448/////////////////////////////////////////////////////////////////////////
449bool
450RangeImage::isValid (int x, int y) const
451{
452 return isInImage (x,y) && std::isfinite (getPoint (x,y).range);
454
455/////////////////////////////////////////////////////////////////////////
456bool
457RangeImage::isValid (int index) const
458{
459 return std::isfinite (getPoint (index).range);
460}
462/////////////////////////////////////////////////////////////////////////
463bool
464RangeImage::isObserved (int x, int y) const
466 return !(!isInImage (x,y) || (std::isinf (getPoint (x,y).range) && getPoint (x,y).range < 0.0f));
467}
468
469/////////////////////////////////////////////////////////////////////////
470bool
471RangeImage::isMaxRange (int x, int y) const
472{
473 float range = getPoint (x,y).range;
474 return std::isinf (range) && range>0.0f;
475}
476
477/////////////////////////////////////////////////////////////////////////
478const PointWithRange&
479RangeImage::getPoint (int image_x, int image_y) const
480{
481 if (!isInImage (image_x, image_y))
482 return unobserved_point;
483 return points[image_y*width + image_x];
484}
485
486/////////////////////////////////////////////////////////////////////////
487const PointWithRange&
488RangeImage::getPointNoCheck (int image_x, int image_y) const
489{
490 return points[image_y*width + image_x];
491}
492
493/////////////////////////////////////////////////////////////////////////
495RangeImage::getPointNoCheck (int image_x, int image_y)
496{
497 return points[image_y*width + image_x];
498}
499
500/////////////////////////////////////////////////////////////////////////
502RangeImage::getPoint (int image_x, int image_y)
503{
504 return points[image_y*width + image_x];
505}
506
507
508/////////////////////////////////////////////////////////////////////////
509const PointWithRange&
510RangeImage::getPoint (int index) const
511{
512 return points[index];
513}
514
515/////////////////////////////////////////////////////////////////////////
516const PointWithRange&
517RangeImage::getPoint (float image_x, float image_y) const
518{
519 int x, y;
520 real2DToInt2D (image_x, image_y, x, y);
521 return getPoint (x, y);
522}
523
524/////////////////////////////////////////////////////////////////////////
526RangeImage::getPoint (float image_x, float image_y)
527{
528 int x, y;
529 real2DToInt2D (image_x, image_y, x, y);
530 return getPoint (x, y);
531}
532
533/////////////////////////////////////////////////////////////////////////
534void
535RangeImage::getPoint (int image_x, int image_y, Eigen::Vector3f& point) const
536{
537 //std::cout << getPoint (image_x, image_y)<< " - " << getPoint (image_x, image_y).getVector3fMap ()<<"\n";
538 point = getPoint (image_x, image_y).getVector3fMap ();
539}
540
541/////////////////////////////////////////////////////////////////////////
542void
543RangeImage::getPoint (int index, Eigen::Vector3f& point) const
544{
545 point = getPoint (index).getVector3fMap ();
546}
547
548/////////////////////////////////////////////////////////////////////////
549const Eigen::Map<const Eigen::Vector3f>
551{
552 return getPoint (x, y).getVector3fMap ();
553}
554
555/////////////////////////////////////////////////////////////////////////
556const Eigen::Map<const Eigen::Vector3f>
558{
559 return getPoint (index).getVector3fMap ();
560}
561
562/////////////////////////////////////////////////////////////////////////
563void
564RangeImage::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const
565{
566 float angle_x, angle_y;
567 //std::cout << image_x<<","<<image_y<<","<<range;
568 getAnglesFromImagePoint (image_x, image_y, angle_x, angle_y);
569
570 float cosY = std::cos (angle_y);
571 point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * std::cos (angle_x)*cosY);
572 point = to_world_system_ * point;
573}
574
575/////////////////////////////////////////////////////////////////////////
576void
577RangeImage::calculate3DPoint (float image_x, float image_y, Eigen::Vector3f& point) const
578{
579 const PointWithRange& point_in_image = getPoint (image_x, image_y);
580 calculate3DPoint (image_x, image_y, point_in_image.range, point);
581}
582
583/////////////////////////////////////////////////////////////////////////
584void
585RangeImage::calculate3DPoint (float image_x, float image_y, float range, PointWithRange& point) const {
586 point.range = range;
587 Eigen::Vector3f tmp_point;
588 calculate3DPoint (image_x, image_y, range, tmp_point);
589 point.x=tmp_point[0]; point.y=tmp_point[1]; point.z=tmp_point[2];
590}
591
592/////////////////////////////////////////////////////////////////////////
593void
594RangeImage::calculate3DPoint (float image_x, float image_y, PointWithRange& point) const
595{
596 const PointWithRange& point_in_image = getPoint (image_x, image_y);
597 calculate3DPoint (image_x, image_y, point_in_image.range, point);
598}
599
600/////////////////////////////////////////////////////////////////////////
601void
602RangeImage::getAnglesFromImagePoint (float image_x, float image_y, float& angle_x, float& angle_y) const
603{
604 angle_y = (image_y+static_cast<float> (image_offset_y_))*angular_resolution_y_ - 0.5f*static_cast<float> (M_PI);
605 float cos_angle_y = std::cos (angle_y);
606 angle_x = (cos_angle_y==0.0f ? 0.0f : ( (image_x+ static_cast<float> (image_offset_x_))*angular_resolution_x_ - static_cast<float> (M_PI))/cos_angle_y);
607}
608
609/////////////////////////////////////////////////////////////////////////
610float
611RangeImage::getImpactAngle (int x1, int y1, int x2, int y2) const
612{
613 if (!isInImage (x1, y1) || !isInImage (x2,y2))
614 return -std::numeric_limits<float>::infinity ();
615 return getImpactAngle (getPoint (x1,y1),getPoint (x2,y2));
616}
617
618/////////////////////////////////////////////////////////////////////////
619float
620RangeImage::getImpactAngle (const PointWithRange& point1, const PointWithRange& point2) const {
621 if ( (std::isinf (point1.range)&&point1.range<0) || (std::isinf (point2.range)&&point2.range<0))
622 return -std::numeric_limits<float>::infinity ();
623
624 float r1 = (std::min) (point1.range, point2.range),
625 r2 = (std::max) (point1.range, point2.range);
626 float impact_angle = static_cast<float> (0.5f * M_PI);
627
628 if (std::isinf (r2))
629 {
630 if (r2 > 0.0f && !std::isinf (r1))
631 impact_angle = 0.0f;
632 }
633 else if (!std::isinf (r1))
634 {
635 float r1Sqr = r1*r1,
636 r2Sqr = r2*r2,
637 dSqr = squaredEuclideanDistance (point1, point2),
638 d = std::sqrt (dSqr);
639 float cos_impact_angle = (r2Sqr + dSqr - r1Sqr)/ (2.0f*r2*d);
640 cos_impact_angle = (std::max) (0.0f, (std::min) (1.0f, cos_impact_angle));
641 impact_angle = std::acos (cos_impact_angle); // Using the cosine rule
642 }
643
644 if (point1.range > point2.range)
645 impact_angle = -impact_angle;
646
647 return impact_angle;
648}
649
650/////////////////////////////////////////////////////////////////////////
651float
653{
654 float impact_angle = getImpactAngle (point1, point2);
655 if (std::isinf (impact_angle))
656 return -std::numeric_limits<float>::infinity ();
657 float ret = 1.0f - float (std::fabs (impact_angle)/ (0.5f*M_PI));
658 if (impact_angle < 0.0f)
659 ret = -ret;
660 //if (std::abs (ret)>1)
661 //std::cout << PVARAC (impact_angle)<<PVARN (ret);
662 return ret;
663}
664
665/////////////////////////////////////////////////////////////////////////
666float
667RangeImage::getAcutenessValue (int x1, int y1, int x2, int y2) const
668{
669 if (!isInImage (x1, y1) || !isInImage (x2,y2))
670 return -std::numeric_limits<float>::infinity ();
671 return getAcutenessValue (getPoint (x1,y1), getPoint (x2,y2));
672}
673
674/////////////////////////////////////////////////////////////////////////
675const Eigen::Vector3f
677{
678 return Eigen::Vector3f (to_world_system_ (0,3), to_world_system_ (1,3), to_world_system_ (2,3));
679}
680
681/////////////////////////////////////////////////////////////////////////
682void
683RangeImage::getSurfaceAngleChange (int x, int y, int radius, float& angle_change_x, float& angle_change_y) const
684{
685 angle_change_x = angle_change_y = -std::numeric_limits<float>::infinity ();
686 if (!isValid (x,y))
687 return;
688 Eigen::Vector3f point;
689 getPoint (x, y, point);
690 Eigen::Affine3f transformation = getTransformationToViewerCoordinateFrame (point);
691
692 if (isObserved (x-radius, y) && isObserved (x+radius, y))
693 {
694 Eigen::Vector3f transformed_left;
695 if (isMaxRange (x-radius, y))
696 transformed_left = Eigen::Vector3f (0.0f, 0.0f, -1.0f);
697 else
698 {
699 Eigen::Vector3f left;
700 getPoint (x-radius, y, left);
701 transformed_left = - (transformation * left);
702 //std::cout << PVARN (transformed_left[1]);
703 transformed_left[1] = 0.0f;
704 transformed_left.normalize ();
705 }
706
707 Eigen::Vector3f transformed_right;
708 if (isMaxRange (x+radius, y))
709 transformed_right = Eigen::Vector3f (0.0f, 0.0f, 1.0f);
710 else
711 {
712 Eigen::Vector3f right;
713 getPoint (x+radius, y, right);
714 transformed_right = transformation * right;
715 //std::cout << PVARN (transformed_right[1]);
716 transformed_right[1] = 0.0f;
717 transformed_right.normalize ();
718 }
719 angle_change_x = transformed_left.dot (transformed_right);
720 angle_change_x = (std::max) (0.0f, (std::min) (1.0f, angle_change_x));
721 angle_change_x = std::acos (angle_change_x);
722 }
723
724 if (isObserved (x, y-radius) && isObserved (x, y+radius))
725 {
726 Eigen::Vector3f transformed_top;
727 if (isMaxRange (x, y-radius))
728 transformed_top = Eigen::Vector3f (0.0f, 0.0f, -1.0f);
729 else
730 {
731 Eigen::Vector3f top;
732 getPoint (x, y-radius, top);
733 transformed_top = - (transformation * top);
734 //std::cout << PVARN (transformed_top[0]);
735 transformed_top[0] = 0.0f;
736 transformed_top.normalize ();
737 }
738
739 Eigen::Vector3f transformed_bottom;
740 if (isMaxRange (x, y+radius))
741 transformed_bottom = Eigen::Vector3f (0.0f, 0.0f, 1.0f);
742 else
743 {
744 Eigen::Vector3f bottom;
745 getPoint (x, y+radius, bottom);
746 transformed_bottom = transformation * bottom;
747 //std::cout << PVARN (transformed_bottom[0]);
748 transformed_bottom[0] = 0.0f;
749 transformed_bottom.normalize ();
750 }
751 angle_change_y = transformed_top.dot (transformed_bottom);
752 angle_change_y = (std::max) (0.0f, (std::min) (1.0f, angle_change_y));
753 angle_change_y = std::acos (angle_change_y);
754 }
755}
756
757
758//inline float RangeImage::getSurfaceChange (const PointWithRange& point, const PointWithRange& neighbor1, const PointWithRange& neighbor2) const
759//{
760 //if (!std::isfinite (point.range) || (!std::isfinite (neighbor1.range)&&neighbor1.range<0) || (!std::isfinite (neighbor2.range)&&neighbor2.range<0))
761 //return -std::numeric_limits<float>::infinity ();
762 //if (std::isinf (neighbor1.range))
763 //{
764 //if (std::isinf (neighbor2.range))
765 //return 0.0f;
766 //else
767 //return std::acos ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor2.x, neighbor2.y, neighbor2.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));
768 //}
769 //if (std::isinf (neighbor2.range))
770 //return std::acos ( (Eigen::Vector3f (point.x, point.y, point.z)-getSensorPos ()).normalized ().dot ( (Eigen::Vector3f (neighbor1.x, neighbor1.y, neighbor1.z)-Eigen::Vector3f (point.x, point.y, point.z)).normalized ()));
771
772 //float d1_squared = squaredEuclideanDistance (point, neighbor1),
773 //d1 = std::sqrt (d1_squared),
774 //d2_squared = squaredEuclideanDistance (point, neighbor2),
775 //d2 = std::sqrt (d2_squared),
776 //d3_squared = squaredEuclideanDistance (neighbor1, neighbor2);
777 //float cos_surface_change = (d1_squared + d2_squared - d3_squared)/ (2.0f*d1*d2),
778 //surface_change = std::acos (cos_surface_change);
779 //if (std::isnan (surface_change))
780 //surface_change = static_cast<float> (M_PI);
781 ////std::cout << PVARN (point)<<PVARN (neighbor1)<<PVARN (neighbor2)<<PVARN (cos_surface_change)<<PVARN (surface_change)<<PVARN (d1)<<PVARN (d2)<<PVARN (d1_squared)<<PVARN (d2_squared)<<PVARN (d3_squared);
782
783 //return surface_change;
784//}
785
786/////////////////////////////////////////////////////////////////////////
787float
788RangeImage::getMaxAngleSize (const Eigen::Affine3f& viewer_pose, const Eigen::Vector3f& center, float radius)
789{
790 return 2.0f * asinf (radius/ (viewer_pose.translation ()-center).norm ());
791}
792
793/////////////////////////////////////////////////////////////////////////
794Eigen::Vector3f
796{
797 return Eigen::Vector3f (point.x, point.y, point.z);
798}
799
800/////////////////////////////////////////////////////////////////////////
801void
802RangeImage::get1dPointAverage (int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange& average_point) const
803{
804 //std::cout << __PRETTY_FUNCTION__<<" called.\n";
805 //MEASURE_FUNCTION_TIME;
806 float weight_sum = 1.0f;
807 average_point = getPoint (x,y);
808 if (std::isinf (average_point.range))
809 {
810 if (average_point.range>0.0f) // The first point is max range -> return a max range point
811 return;
812 weight_sum = 0.0f;
813 average_point.x = average_point.y = average_point.z = average_point.range = 0.0f;
814 }
815
816 int x2=x, y2=y;
817 Vector4fMap average_point_eigen = average_point.getVector4fMap ();
818 //std::cout << PVARN (no_of_points);
819 for (int step=1; step<no_of_points; ++step)
820 {
821 //std::cout << PVARC (step);
822 x2+=delta_x; y2+=delta_y;
823 if (!isValid (x2, y2))
824 continue;
825 const PointWithRange& p = getPointNoCheck (x2, y2);
826 average_point_eigen+=p.getVector4fMap (); average_point.range+=p.range;
827 weight_sum += 1.0f;
828 }
829 if (weight_sum<= 0.0f)
830 {
831 average_point = unobserved_point;
832 return;
833 }
834 float normalization_factor = 1.0f/weight_sum;
835 average_point_eigen *= normalization_factor;
836 average_point.range *= normalization_factor;
837 //std::cout << PVARN (average_point);
838}
839
840/////////////////////////////////////////////////////////////////////////
841float
842RangeImage::getEuclideanDistanceSquared (int x1, int y1, int x2, int y2) const
843{
844 if (!isObserved (x1,y1)||!isObserved (x2,y2))
845 return -std::numeric_limits<float>::infinity ();
846 const PointWithRange& point1 = getPoint (x1,y1),
847 & point2 = getPoint (x2,y2);
848 if (std::isinf (point1.range) && std::isinf (point2.range))
849 return 0.0f;
850 if (std::isinf (point1.range) || std::isinf (point2.range))
851 return std::numeric_limits<float>::infinity ();
852 return squaredEuclideanDistance (point1, point2);
853}
854
855/////////////////////////////////////////////////////////////////////////
856float
857RangeImage::getAverageEuclideanDistance (int x, int y, int offset_x, int offset_y, int max_steps) const
858{
859 float average_pixel_distance = 0.0f;
860 float weight=0.0f;
861 for (int i=0; i<max_steps; ++i)
862 {
863 int x1=x+i*offset_x, y1=y+i*offset_y;
864 int x2=x+ (i+1)*offset_x, y2=y+ (i+1)*offset_y;
865 float pixel_distance = getEuclideanDistanceSquared (x1,y1,x2,y2);
866 if (!std::isfinite (pixel_distance))
867 {
868 //std::cout << x<<","<<y<<"->"<<x2<<","<<y2<<": "<<pixel_distance<<"\n";
869 if (i==0)
870 return pixel_distance;
871 break;
872 }
873 //std::cout << x<<","<<y<<"->"<<x2<<","<<y2<<": "<<std::sqrt (pixel_distance)<<"m\n";
874 weight += 1.0f;
875 average_pixel_distance += std::sqrt (pixel_distance);
876 }
877 average_pixel_distance /= weight;
878 //std::cout << x<<","<<y<<","<<offset_x<<","<<offset_y<<" => "<<average_pixel_distance<<"\n";
879 return average_pixel_distance;
880}
881
882/////////////////////////////////////////////////////////////////////////
883float
884RangeImage::getImpactAngleBasedOnLocalNormal (int x, int y, int radius) const
885{
886 if (!isValid (x,y))
887 return -std::numeric_limits<float>::infinity ();
888 const PointWithRange& point = getPoint (x, y);
889 int no_of_nearest_neighbors = static_cast<int> (pow (static_cast<double> ( (radius + 1.0)), 2.0));
890 Eigen::Vector3f normal;
891 if (!getNormalForClosestNeighbors (x, y, radius, point, no_of_nearest_neighbors, normal, 1))
892 return -std::numeric_limits<float>::infinity ();
893 return deg2rad (90.0f) - std::acos (normal.dot ( (getSensorPos ()-getEigenVector3f (point)).normalized ()));
894}
895
896
897/////////////////////////////////////////////////////////////////////////
898bool
899RangeImage::getNormal (int x, int y, int radius, Eigen::Vector3f& normal, int step_size) const
900{
901 VectorAverage3f vector_average;
902 for (int y2=y-radius; y2<=y+radius; y2+=step_size)
903 {
904 for (int x2=x-radius; x2<=x+radius; x2+=step_size)
905 {
906 if (!isInImage (x2, y2))
907 continue;
908 const PointWithRange& point = getPoint (x2, y2);
909 if (!std::isfinite (point.range))
910 continue;
911 vector_average.add (Eigen::Vector3f (point.x, point.y, point.z));
912 }
913 }
914 if (vector_average.getNoOfSamples () < 3)
915 return false;
916 Eigen::Vector3f eigen_values, eigen_vector2, eigen_vector3;
917 vector_average.doPCA (eigen_values, normal, eigen_vector2, eigen_vector3);
918 if (normal.dot ( (getSensorPos ()-vector_average.getMean ()).normalized ()) < 0.0f)
919 normal *= -1.0f;
920 return true;
921}
922
923/////////////////////////////////////////////////////////////////////////
924float
925RangeImage::getNormalBasedAcutenessValue (int x, int y, int radius) const
926{
927 float impact_angle = getImpactAngleBasedOnLocalNormal (x, y, radius);
928 if (std::isinf (impact_angle))
929 return -std::numeric_limits<float>::infinity ();
930 float ret = 1.0f - static_cast<float> ( (impact_angle / (0.5f * M_PI)));
931 //std::cout << PVARAC (impact_angle)<<PVARN (ret);
932 return ret;
933}
934
935/////////////////////////////////////////////////////////////////////////
936bool
937RangeImage::getNormalForClosestNeighbors (int x, int y, int radius, const PointWithRange& point,
938 int no_of_nearest_neighbors, Eigen::Vector3f& normal, int step_size) const
939{
940 return getNormalForClosestNeighbors (x, y, radius, Eigen::Vector3f (point.x, point.y, point.z), no_of_nearest_neighbors, normal, nullptr, step_size);
941}
942
943/////////////////////////////////////////////////////////////////////////
944bool
945RangeImage::getNormalForClosestNeighbors (int x, int y, Eigen::Vector3f& normal, int radius) const
946{
947 if (!isValid (x,y))
948 return false;
949 int no_of_nearest_neighbors = static_cast<int> (pow (static_cast<double> (radius + 1.0), 2.0));
950 return getNormalForClosestNeighbors (x, y, radius, getPoint (x,y).getVector3fMap (), no_of_nearest_neighbors, normal);
951}
952
953namespace
954{ // Anonymous namespace, so that this is only accessible in this file
955 struct NeighborWithDistance
956 { // local struct to help us with sorting
957 float distance;
958 const PointWithRange* neighbor;
959 bool operator < (const NeighborWithDistance& other) const { return distance<other.distance;}
960 };
961}
962
963/////////////////////////////////////////////////////////////////////////
964bool
965RangeImage::getSurfaceInformation (int x, int y, int radius, const Eigen::Vector3f& point, int no_of_closest_neighbors, int step_size,
966 float& max_closest_neighbor_distance_squared,
967 Eigen::Vector3f& normal, Eigen::Vector3f& mean, Eigen::Vector3f& eigen_values,
968 Eigen::Vector3f* normal_all_neighbors, Eigen::Vector3f* mean_all_neighbors,
969 Eigen::Vector3f* eigen_values_all_neighbors) const
970{
971 max_closest_neighbor_distance_squared=0.0f;
972 normal.setZero (); mean.setZero (); eigen_values.setZero ();
973 if (normal_all_neighbors!=nullptr)
974 normal_all_neighbors->setZero ();
975 if (mean_all_neighbors!=nullptr)
976 mean_all_neighbors->setZero ();
977 if (eigen_values_all_neighbors!=nullptr)
978 eigen_values_all_neighbors->setZero ();
979
980 const auto sqrt_blocksize = 2 * radius + 1;
981 const auto blocksize = sqrt_blocksize * sqrt_blocksize;
982
983 PointWithRange given_point;
984 given_point.x=point[0]; given_point.y=point[1]; given_point.z=point[2];
985
986 std::vector<NeighborWithDistance> ordered_neighbors (blocksize);
987 int neighbor_counter = 0;
988 for (int y2=y-radius; y2<=y+radius; y2+=step_size)
989 {
990 for (int x2=x-radius; x2<=x+radius; x2+=step_size)
991 {
992 if (!isValid (x2, y2))
993 continue;
994 NeighborWithDistance& neighbor_with_distance = ordered_neighbors[neighbor_counter];
995 neighbor_with_distance.neighbor = &getPoint (x2, y2);
996 neighbor_with_distance.distance = squaredEuclideanDistance (given_point, *neighbor_with_distance.neighbor);
997 ++neighbor_counter;
998 }
999 }
1000 no_of_closest_neighbors = (std::min) (neighbor_counter, no_of_closest_neighbors);
1001
1002 std::sort (ordered_neighbors.begin (), ordered_neighbors.begin () + neighbor_counter); // Normal sort seems to be the fastest method (faster than partial_sort)
1003 //std::stable_sort (ordered_neighbors, ordered_neighbors+neighbor_counter);
1004 //std::partial_sort (ordered_neighbors, ordered_neighbors+no_of_closest_neighbors, ordered_neighbors+neighbor_counter);
1005
1006 max_closest_neighbor_distance_squared = ordered_neighbors[no_of_closest_neighbors-1].distance;
1007 //float max_distance_squared = max_closest_neighbor_distance_squared;
1008 float max_distance_squared = max_closest_neighbor_distance_squared*4.0f; // Double the allowed distance value
1009 //max_closest_neighbor_distance_squared = max_distance_squared;
1010
1011 VectorAverage3f vector_average;
1012 //for (int neighbor_idx=0; neighbor_idx<no_of_closest_neighbors; ++neighbor_idx)
1013 int neighbor_idx;
1014 for (neighbor_idx=0; neighbor_idx<neighbor_counter; ++neighbor_idx)
1015 {
1016 if (ordered_neighbors[neighbor_idx].distance > max_distance_squared)
1017 break;
1018 //std::cout << ordered_neighbors[neighbor_idx].distance<<"\n";
1019 vector_average.add (ordered_neighbors[neighbor_idx].neighbor->getVector3fMap ());
1020 }
1021
1022 if (vector_average.getNoOfSamples () < 3)
1023 return false;
1024 //std::cout << PVARN (vector_average.getNoOfSamples ());
1025 Eigen::Vector3f eigen_vector2, eigen_vector3;
1026 vector_average.doPCA (eigen_values, normal, eigen_vector2, eigen_vector3);
1027 Eigen::Vector3f viewing_direction = (getSensorPos ()-point).normalized ();
1028 if (normal.dot (viewing_direction) < 0.0f)
1029 normal *= -1.0f;
1030 mean = vector_average.getMean ();
1031
1032 if (normal_all_neighbors==nullptr)
1033 return true;
1034
1035 // Add remaining neighbors
1036 for (int neighbor_idx2=neighbor_idx; neighbor_idx2<neighbor_counter; ++neighbor_idx2)
1037 vector_average.add (ordered_neighbors[neighbor_idx2].neighbor->getVector3fMap ());
1038
1039 vector_average.doPCA (*eigen_values_all_neighbors, *normal_all_neighbors, eigen_vector2, eigen_vector3);
1040 //std::cout << PVARN (vector_average.getNoOfSamples ())<<".\n";
1041 if (normal_all_neighbors->dot (viewing_direction) < 0.0f)
1042 *normal_all_neighbors *= -1.0f;
1043 *mean_all_neighbors = vector_average.getMean ();
1044
1045 //std::cout << viewing_direction[0]<<","<<viewing_direction[1]<<","<<viewing_direction[2]<<"\n";
1046
1047 return true;
1048}
1049
1050/////////////////////////////////////////////////////////////////////////
1051float
1052RangeImage::getSquaredDistanceOfNthNeighbor (int x, int y, int radius, int n, int step_size) const
1053{
1054 const PointWithRange& point = getPoint (x, y);
1055 if (!std::isfinite (point.range))
1056 return -std::numeric_limits<float>::infinity ();
1057
1058 const auto sqrt_blocksize = 2 * radius + 1;
1059 const auto blocksize = sqrt_blocksize * sqrt_blocksize;
1060 std::vector<float> neighbor_distances (blocksize);
1061 int neighbor_counter = 0;
1062 for (int y2=y-radius; y2<=y+radius; y2+=step_size)
1063 {
1064 for (int x2=x-radius; x2<=x+radius; x2+=step_size)
1065 {
1066 if (!isValid (x2, y2) || (x2==x&&y2==y))
1067 continue;
1068 const PointWithRange& neighbor = getPointNoCheck (x2,y2);
1069 float& neighbor_distance = neighbor_distances[neighbor_counter++];
1070 neighbor_distance = squaredEuclideanDistance (point, neighbor);
1071 }
1072 }
1073 std::sort (neighbor_distances.begin (), neighbor_distances.begin () + neighbor_counter); // Normal sort seems to be
1074 // the fastest method (faster than partial_sort)
1075 n = (std::min) (neighbor_counter, n);
1076 return neighbor_distances[n-1];
1077}
1078
1079
1080/////////////////////////////////////////////////////////////////////////
1081bool
1082RangeImage::getNormalForClosestNeighbors (int x, int y, int radius, const Eigen::Vector3f& point, int no_of_nearest_neighbors,
1083 Eigen::Vector3f& normal, Eigen::Vector3f* point_on_plane, int step_size) const
1084{
1085 Eigen::Vector3f mean, eigen_values;
1086 float used_squared_max_distance;
1087 bool ret = getSurfaceInformation (x, y, radius, point, no_of_nearest_neighbors, step_size, used_squared_max_distance,
1088 normal, mean, eigen_values);
1089
1090 if (ret)
1091 {
1092 if (point_on_plane != nullptr)
1093 *point_on_plane = (normal.dot (mean) - normal.dot (point))*normal + point;
1094 }
1095 return ret;
1096}
1097
1098
1099/////////////////////////////////////////////////////////////////////////
1100float
1101RangeImage::getCurvature (int x, int y, int radius, int step_size) const
1102{
1103 VectorAverage3f vector_average;
1104 for (int y2=y-radius; y2<=y+radius; y2+=step_size)
1105 {
1106 for (int x2=x-radius; x2<=x+radius; x2+=step_size)
1107 {
1108 if (!isInImage (x2, y2))
1109 continue;
1110 const PointWithRange& point = getPoint (x2, y2);
1111 if (!std::isfinite (point.range))
1112 continue;
1113 vector_average.add (Eigen::Vector3f (point.x, point.y, point.z));
1114 }
1115 }
1116 if (vector_average.getNoOfSamples () < 3)
1117 return false;
1118 Eigen::Vector3f eigen_values;
1119 vector_average.doPCA (eigen_values);
1120 return eigen_values[0]/eigen_values.sum ();
1121}
1122
1123
1124/////////////////////////////////////////////////////////////////////////
1125template <typename PointCloudTypeWithViewpoints> Eigen::Vector3f
1126RangeImage::getAverageViewPoint (const PointCloudTypeWithViewpoints& point_cloud)
1127{
1128 Eigen::Vector3f average_viewpoint (0,0,0);
1129 int point_counter = 0;
1130 for (const auto& point: point_cloud.points)
1131 {
1132 if (!std::isfinite (point.vp_x) || !std::isfinite (point.vp_y) || !std::isfinite (point.vp_z))
1133 continue;
1134 average_viewpoint[0] += point.vp_x;
1135 average_viewpoint[1] += point.vp_y;
1136 average_viewpoint[2] += point.vp_z;
1137 ++point_counter;
1138 }
1139 average_viewpoint /= point_counter;
1140
1141 return average_viewpoint;
1142}
1143
1144/////////////////////////////////////////////////////////////////////////
1145bool
1146RangeImage::getViewingDirection (int x, int y, Eigen::Vector3f& viewing_direction) const
1147{
1148 if (!isValid (x, y))
1149 return false;
1150 viewing_direction = (getPoint (x,y).getVector3fMap ()-getSensorPos ()).normalized ();
1151 return true;
1152}
1153
1154/////////////////////////////////////////////////////////////////////////
1155void
1156RangeImage::getViewingDirection (const Eigen::Vector3f& point, Eigen::Vector3f& viewing_direction) const
1157{
1158 viewing_direction = (point-getSensorPos ()).normalized ();
1159}
1160
1161/////////////////////////////////////////////////////////////////////////
1162Eigen::Affine3f
1164{
1165 Eigen::Affine3f transformation;
1166 getTransformationToViewerCoordinateFrame (point, transformation);
1167 return transformation;
1168}
1169
1170/////////////////////////////////////////////////////////////////////////
1171void
1172RangeImage::getTransformationToViewerCoordinateFrame (const Eigen::Vector3f& point, Eigen::Affine3f& transformation) const
1173{
1174 Eigen::Vector3f viewing_direction = (point-getSensorPos ()).normalized ();
1175 getTransformationFromTwoUnitVectorsAndOrigin (Eigen::Vector3f (0.0f, -1.0f, 0.0f), viewing_direction, point, transformation);
1176}
1177
1178/////////////////////////////////////////////////////////////////////////
1179void
1180RangeImage::getRotationToViewerCoordinateFrame (const Eigen::Vector3f& point, Eigen::Affine3f& transformation) const
1181{
1182 Eigen::Vector3f viewing_direction = (point-getSensorPos ()).normalized ();
1183 getTransformationFromTwoUnitVectors (Eigen::Vector3f (0.0f, -1.0f, 0.0f), viewing_direction, transformation);
1184}
1185
1186/////////////////////////////////////////////////////////////////////////
1187inline void
1188RangeImage::setAngularResolution (float angular_resolution)
1189{
1190 angular_resolution_x_ = angular_resolution_y_ = angular_resolution;
1192}
1193
1194/////////////////////////////////////////////////////////////////////////
1195inline void
1196RangeImage::setAngularResolution (float angular_resolution_x, float angular_resolution_y)
1197{
1198 angular_resolution_x_ = angular_resolution_x;
1200 angular_resolution_y_ = angular_resolution_y;
1202}
1203
1204/////////////////////////////////////////////////////////////////////////
1205inline void
1206RangeImage::setTransformationToRangeImageSystem (const Eigen::Affine3f& to_range_image_system)
1207{
1208 to_range_image_system_ = to_range_image_system;
1210}
1211
1212/////////////////////////////////////////////////////////////////////////
1213inline void
1214RangeImage::getAngularResolution (float& angular_resolution_x, float& angular_resolution_y) const
1215{
1216 angular_resolution_x = angular_resolution_x_;
1217 angular_resolution_y = angular_resolution_y_;
1218}
1219
1220/////////////////////////////////////////////////////////////////////////
1221template <typename PointCloudType> void
1222RangeImage::integrateFarRanges (const PointCloudType& far_ranges)
1223{
1224 float x_real, y_real, range_of_current_point;
1225 for (const auto& point: far_ranges.points)
1226 {
1227 //if (!isFinite (point)) // Check for NAN etc
1228 //continue;
1229 Vector3fMapConst current_point = point.getVector3fMap ();
1230
1231 this->getImagePoint (current_point, x_real, y_real, range_of_current_point);
1232
1233 int floor_x = static_cast<int> (pcl_lrint (std::floor (x_real))),
1234 floor_y = static_cast<int> (pcl_lrint (std::floor (y_real))),
1235 ceil_x = static_cast<int> (pcl_lrint (std::ceil (x_real))),
1236 ceil_y = static_cast<int> (pcl_lrint (std::ceil (y_real)));
1237
1238 int neighbor_x[4], neighbor_y[4];
1239 neighbor_x[0]=floor_x; neighbor_y[0]=floor_y;
1240 neighbor_x[1]=floor_x; neighbor_y[1]=ceil_y;
1241 neighbor_x[2]=ceil_x; neighbor_y[2]=floor_y;
1242 neighbor_x[3]=ceil_x; neighbor_y[3]=ceil_y;
1243
1244 for (int i=0; i<4; ++i)
1245 {
1246 int x=neighbor_x[i], y=neighbor_y[i];
1247 if (!isInImage (x, y))
1248 continue;
1249 PointWithRange& image_point = getPoint (x, y);
1250 if (!std::isfinite (image_point.range))
1251 image_point.range = std::numeric_limits<float>::infinity ();
1252 }
1253 }
1254}
1255
1256} // namespace pcl
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
Definition: point_cloud.h:403
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:398
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:400
std::vector< PointT, Eigen::aligned_allocator< PointT > > VectorType
Definition: point_cloud.h:411
std::vector< PointWithRange, Eigen::aligned_allocator< PointWithRange > > points
The point data.
Definition: point_cloud.h:395
PCL_EXPORTS void recalculate3DPointPositions()
Recalculate all 3D point positions according to their pixel position and range.
int image_offset_y_
Position of the top left corner of the range image compared to an image of full size (360x180 degrees...
Definition: range_image.h:776
static float atan2LookUp(float y, float x)
Query the std::atan2 lookup table.
Definition: range_image.hpp:63
void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &point) const
Calculate the 3D point according to the given image point and range.
float getImpactAngleBasedOnLocalNormal(int x, int y, int radius) const
Extract a local normal (with a heuristic not to include background points) and calculate the impact a...
PCL_EXPORTS void cropImage(int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)
Cut the range image to the minimal size so that it still contains all actual range readings.
float getAcutenessValue(const PointWithRange &point1, const PointWithRange &point2) const
Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) will r...
bool isValid(int x, int y) const
Check if a point is inside of the image and has a finite range.
void getAnglesFromImagePoint(float image_x, float image_y, float &angle_x, float &angle_y) const
Get the angles corresponding to the given image point.
void setAngularResolution(float angular_resolution)
Set the angular resolution of the range image.
static float cosLookUp(float value)
Query the cos lookup table.
Definition: range_image.hpp:89
static Eigen::Vector3f getEigenVector3f(const PointWithRange &point)
Get Eigen::Vector3f from PointWithRange.
Eigen::Affine3f to_world_system_
Inverse of to_range_image_system_.
Definition: range_image.h:769
void get1dPointAverage(int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &average_point) const
Calculates the average 3D position of the no_of_points points described by the start point x,...
float checkPoint(const Eigen::Vector3f &point, PointWithRange &point_in_image) const
point_in_image will be the point in the image at the position the given point would be.
static Eigen::Vector3f getAverageViewPoint(const PointCloudTypeWithViewpoints &point_cloud)
Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x,...
float getAverageEuclideanDistance(int x, int y, int offset_x, int offset_y, int max_steps) const
Doing the above for some steps in the given direction and averaging.
PointWithRange unobserved_point
This point is used to be able to return a reference to a non-existing point.
Definition: range_image.h:778
const PointWithRange & getPoint(int image_x, int image_y) const
Return the 3D point with range at the given image position.
void doZBuffer(const PointCloudType &point_cloud, float noise_level, float min_range, int &top, int &right, int &bottom, int &left)
Integrate the given point cloud into the current range image using a z-buffer.
const PointWithRange & getPointNoCheck(int image_x, int image_y) const
Return the 3D point with range at the given image position.
float getNormalBasedAcutenessValue(int x, int y, int radius) const
Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This u...
Eigen::Affine3f getTransformationToViewerCoordinateFrame(const Eigen::Vector3f &point) const
Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.
float getImpactAngle(const PointWithRange &point1, const PointWithRange &point2) const
Calculate the impact angle based on the sensor position and the two given points - will return -INFIN...
void integrateFarRanges(const PointCloudType &far_ranges)
Integrates the given far range measurements into the range image.
static float asinLookUp(float value)
Query the asin lookup table.
Definition: range_image.hpp:53
static std::vector< float > atan_lookup_table
Definition: range_image.h:787
float getAngularResolution() const
Getter for the angular resolution of the range image in x direction in radians per pixel.
Definition: range_image.h:352
bool isObserved(int x, int y) const
Check if a point is inside of the image and has either a finite range or a max reading (range=INFINIT...
bool isMaxRange(int x, int y) const
Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!
virtual void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
Get imagePoint from 3D point in world coordinates.
bool isInImage(int x, int y) const
Check if a point is inside of the image.
void createFromPointCloud(const PointCloudType &point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
Create the depth image from a point cloud.
Definition: range_image.hpp:97
float angular_resolution_y_reciprocal_
1.0/angular_resolution_y_ - provided for better performance of multiplication compared to division
Definition: range_image.h:774
void real2DToInt2D(float x, float y, int &xInt, int &yInt) const
Transforms an image point in float values to an image point in int values.
void createFromPointCloudWithViewpoints(const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,...
float getEuclideanDistanceSquared(int x1, int y1, int x2, int y2) const
Get the squared euclidean distance between the two image points.
static const int lookup_table_size
Definition: range_image.h:785
const Eigen::Vector3f getSensorPos() const
Get the sensor position.
float angular_resolution_y_
Angular resolution of the range image in y direction in radians per pixel.
Definition: range_image.h:771
bool getSurfaceInformation(int x, int y, int radius, const Eigen::Vector3f &point, int no_of_closest_neighbors, int step_size, float &max_closest_neighbor_distance_squared, Eigen::Vector3f &normal, Eigen::Vector3f &mean, Eigen::Vector3f &eigen_values, Eigen::Vector3f *normal_all_neighbors=nullptr, Eigen::Vector3f *mean_all_neighbors=nullptr, Eigen::Vector3f *eigen_values_all_neighbors=nullptr) const
Same as above but extracts some more data and can also return the extracted information for all neigh...
static std::vector< float > cos_lookup_table
Definition: range_image.h:788
static std::vector< float > asin_lookup_table
Definition: range_image.h:786
void setTransformationToRangeImageSystem(const Eigen::Affine3f &to_range_image_system)
Setter for the transformation from the range image system (the sensor coordinate frame) into the worl...
void getRotationToViewerCoordinateFrame(const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
Same as above, but only returning the rotation.
float angular_resolution_x_
Angular resolution of the range image in x direction in radians per pixel.
Definition: range_image.h:770
static float getMaxAngleSize(const Eigen::Affine3f &viewer_pose, const Eigen::Vector3f &center, float radius)
Get the size of a certain area when seen from the given pose.
float getCurvature(int x, int y, int radius, int step_size) const
Calculates the curvature in a point using pca.
bool getNormalForClosestNeighbors(int x, int y, int radius, const PointWithRange &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, int step_size=1) const
Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered.
bool getViewingDirection(int x, int y, Eigen::Vector3f &viewing_direction) const
Get the viewing direction for the given point.
Eigen::Affine3f to_range_image_system_
Inverse of to_world_system_.
Definition: range_image.h:768
float angular_resolution_x_reciprocal_
1.0/angular_resolution_x_ - provided for better performance of multiplication compared to division
Definition: range_image.h:772
void getImagePointFromAngles(float angle_x, float angle_y, float &image_x, float &image_y) const
Get the image point corresponding to the given angles.
float getSquaredDistanceOfNthNeighbor(int x, int y, int radius, int n, int step_size) const
float getRangeDifference(const Eigen::Vector3f &point) const
Returns the difference in range between the given point and the range of the point in the image at th...
bool getNormal(int x, int y, int radius, Eigen::Vector3f &normal, int step_size=1) const
Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius.
static PCL_EXPORTS void getCoordinateFrameTransformation(RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.
void createFromPointCloudWithKnownSize(const PointCloudType &point_cloud, float angular_resolution, const Eigen::Vector3f &point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
Create the depth image from a point cloud, getting a hint about the size of the scene for faster calc...
void getSurfaceAngleChange(int x, int y, int radius, float &angle_change_x, float &angle_change_y) const
Calculates, how much the surface changes at a point.
Calculates the weighted average and the covariance matrix.
void add(const VectorType &sample, real weight=1.0)
Add a new sample.
void doPCA(VectorType &eigen_values, VectorType &eigen_vector1, VectorType &eigen_vector2, VectorType &eigen_vector3) const
Do Principal component analysis.
const VectorType & getMean() const
Get the mean of the added vectors.
unsigned int getNoOfSamples()
Get the number of added vectors.
Define standard C methods to do distance calculations.
float deg2rad(float alpha)
Convert an angle from degrees to radians.
Definition: angles.hpp:67
void getTransformationFromTwoUnitVectorsAndOrigin(const Eigen::Vector3f &y_direction, const Eigen::Vector3f &z_axis, const Eigen::Vector3f &origin, Eigen::Affine3f &transformation)
Get the transformation that will translate origin to (0,0,0) and rotate z_axis into (0,...
Definition: eigen.hpp:573
void getTransformationFromTwoUnitVectors(const Eigen::Vector3f &y_direction, const Eigen::Vector3f &z_axis, Eigen::Affine3f &transformation)
Get the unique 3D rotation that will rotate z_axis into (0,0,1) and y_direction into a vector with x=...
Definition: eigen.hpp:554
float distance(const PointT &p1, const PointT &p2)
Definition: geometry.h:60
Eigen::Map< Eigen::Vector4f, Eigen::Aligned > Vector4fMap
float squaredEuclideanDistance(const PointType1 &p1, const PointType2 &p2)
Calculate the squared euclidean distance between the two given points.
Definition: distances.h:182
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
const Eigen::Map< const Eigen::Vector3f > Vector3fMapConst
Defines all the PCL and non-PCL macros used.
#define pcl_lrint(x)
Definition: pcl_macros.h:253
#define pcl_lrintf(x)
Definition: pcl_macros.h:254
#define ERASE_ARRAY(var, size)
Definition: pcl_macros.h:304
#define M_PI
Definition: pcl_macros.h:201
A point structure representing Euclidean xyz coordinates, padded with an extra range float.