Point Cloud Library (PCL)
1.3.1
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Bastian Steder 00035 */ 00036 00037 #include "pcl/win32_macros.h" 00038 #include <Eigen/Geometry> 00039 00040 namespace pcl 00041 { 00042 00044 template <typename PointCloudType> void 00045 RangeImagePlanar::createFromPointCloudWithFixedSize (const PointCloudType& point_cloud, 00046 int di_width, int di_height, 00047 float di_center_x, float di_center_y, 00048 float di_focal_length_x, float di_focal_length_y, 00049 const Eigen::Affine3f& sensor_pose, 00050 CoordinateFrame coordinate_frame, float noise_level, 00051 float min_range) 00052 { 00053 //std::cout << "Starting to create range image from "<<point_cloud.points.size()<<" points.\n"; 00054 00055 width = di_width; 00056 height = di_height; 00057 center_x_ = di_center_x; 00058 center_y_ = di_center_y; 00059 focal_length_x_ = di_focal_length_x; 00060 focal_length_y_ = di_focal_length_y; 00061 focal_length_x_reciprocal_ = 1 / focal_length_x_; 00062 focal_length_y_reciprocal_ = 1 / focal_length_y_; 00063 00064 is_dense = false; 00065 00066 getCoordinateFrameTransformation(coordinate_frame, to_world_system_); 00067 to_world_system_ = sensor_pose * to_world_system_; 00068 00069 to_range_image_system_ = to_world_system_.inverse (); 00070 00071 unsigned int size = width*height; 00072 points.clear(); 00073 points.resize(size, unobserved_point); 00074 00075 int top=height, right=-1, bottom=-1, left=width; 00076 doZBuffer(point_cloud, noise_level, min_range, top, right, bottom, left); 00077 00078 // Do not crop 00079 //cropImage(border_size, top, right, bottom, left); 00080 00081 recalculate3DPointPositions(); 00082 } 00083 00084 00086 void 00087 RangeImagePlanar::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const 00088 { 00089 //cout << __PRETTY_FUNCTION__ << " called.\n"; 00090 float delta_x = (image_x-center_x_)*focal_length_x_reciprocal_, 00091 delta_y = (image_y-center_y_)*focal_length_y_reciprocal_; 00092 point[2] = range / (sqrtf (delta_x*delta_x + delta_y*delta_y + 1)); 00093 point[0] = delta_x*point[2]; 00094 point[1] = delta_y*point[2]; 00095 point = to_world_system_ * point; 00096 } 00097 00099 inline void 00100 RangeImagePlanar::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const 00101 { 00102 Eigen::Vector3f transformedPoint = to_range_image_system_ * point; 00103 range = transformedPoint.norm(); 00104 00105 image_x = center_x_ + focal_length_x_*transformedPoint[0]/transformedPoint[2]; 00106 image_y = center_y_ + focal_length_y_*transformedPoint[1]/transformedPoint[2]; 00107 } 00108 00109 } // namespace end