103 lines
3.8 KiB
C++
103 lines
3.8 KiB
C++
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Willow Garage nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#ifndef DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS
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#define DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS
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#include <robot_sensor_msgs/Image.h>
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#include <robot_sensor_msgs/CameraInfo.h>
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#include <robot_sensor_msgs/point_cloud2_iterator.h>
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#include <robot_image_geometry/pinhole_camera_model.h>
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#include <robot_depth_image_proc/depth_traits.h>
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#include <limits>
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namespace depth_image_proc {
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typedef robot_sensor_msgs::PointCloud2 PointCloud;
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// Handles float or uint16 depths
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template<typename T>
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void convert(
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const robot_sensor_msgs::Image& depth_msg,
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PointCloud& cloud_msg,
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const image_geometry::PinholeCameraModel& model,
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double range_max = 0.0)
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{
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// Use correct principal point from calibration
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float center_x = model.cx();
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float center_y = model.cy();
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// Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
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double unit_scaling = DepthTraits<T>::toMeters( T(1) );
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float constant_x = unit_scaling / model.fx();
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float constant_y = unit_scaling / model.fy();
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float bad_point = std::numeric_limits<float>::quiet_NaN();
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robot_sensor_msgs::PointCloud2Iterator<float> iter_x(cloud_msg, "x");
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robot_sensor_msgs::PointCloud2Iterator<float> iter_y(cloud_msg, "y");
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robot_sensor_msgs::PointCloud2Iterator<float> iter_z(cloud_msg, "z");
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const T* depth_row = reinterpret_cast<const T*>(&depth_msg.data[0]);
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int row_step = depth_msg.step / sizeof(T);
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for (int v = 0; v < (int)cloud_msg.height; ++v, depth_row += row_step)
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{
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for (int u = 0; u < (int)cloud_msg.width; ++u, ++iter_x, ++iter_y, ++iter_z)
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{
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T depth = depth_row[u];
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// Missing points denoted by NaNs
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if (!DepthTraits<T>::valid(depth))
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{
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if (range_max != 0.0)
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{
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depth = DepthTraits<T>::fromMeters(range_max);
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}
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else
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{
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*iter_x = *iter_y = *iter_z = bad_point;
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continue;
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}
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}
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// Fill in XYZ
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*iter_x = (u - center_x) * depth * constant_x;
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*iter_y = (v - center_y) * depth * constant_y;
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*iter_z = DepthTraits<T>::toMeters(depth);
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}
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}
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}
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} // namespace depth_image_proc
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#endif
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