282 lines
16 KiB
C++
282 lines
16 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, 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 Willow Garage, Inc. 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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*
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*/
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#include <sensor_msgs/PointCloud2.h>
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#include <pcl/common/io.h>
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#include <pcl/point_types.h>
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#include <pcl_conversions/pcl_conversions.h>
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#include "pcl_ros/transforms.h"
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#include "pcl_ros/impl/transforms.hpp"
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namespace pcl_ros
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{
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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bool
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transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &in,
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sensor_msgs::PointCloud2 &out, const tf::TransformListener &tf_listener)
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{
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if (in.header.frame_id == target_frame)
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{
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out = in;
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return (true);
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}
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// Get the TF transform
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tf::StampedTransform transform;
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try
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{
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tf_listener.lookupTransform (target_frame, in.header.frame_id, in.header.stamp, transform);
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}
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catch (tf::LookupException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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catch (tf::ExtrapolationException &e)
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{
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ROS_ERROR ("%s", e.what ());
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return (false);
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}
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// Convert the TF transform to Eigen format
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Eigen::Matrix4f eigen_transform;
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transformAsMatrix (transform, eigen_transform);
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transformPointCloud (eigen_transform, in, out);
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out.header.frame_id = target_frame;
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return (true);
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void
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transformPointCloud (const std::string &target_frame, const tf::Transform &net_transform,
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const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
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{
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if (in.header.frame_id == target_frame)
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{
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out = in;
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return;
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}
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// Get the transformation
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Eigen::Matrix4f transform;
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transformAsMatrix (net_transform, transform);
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transformPointCloud (transform, in, out);
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out.header.frame_id = target_frame;
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}
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//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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void
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transformPointCloud (const Eigen::Matrix4f &transform, const sensor_msgs::PointCloud2 &in,
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sensor_msgs::PointCloud2 &out)
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{
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// Get X-Y-Z indices
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int x_idx = pcl::getFieldIndex (in, "x");
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int y_idx = pcl::getFieldIndex (in, "y");
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int z_idx = pcl::getFieldIndex (in, "z");
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if (x_idx == -1 || y_idx == -1 || z_idx == -1)
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{
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ROS_ERROR ("Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
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return;
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}
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if (in.fields[x_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
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in.fields[y_idx].datatype != sensor_msgs::PointField::FLOAT32 ||
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in.fields[z_idx].datatype != sensor_msgs::PointField::FLOAT32)
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{
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ROS_ERROR ("X-Y-Z coordinates not floats. Currently only floats are supported.");
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return;
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}
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// Check if distance is available
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int dist_idx = pcl::getFieldIndex (in, "distance");
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// Copy the other data
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if (&in != &out)
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{
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out.header = in.header;
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out.height = in.height;
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out.width = in.width;
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out.fields = in.fields;
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out.is_bigendian = in.is_bigendian;
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out.point_step = in.point_step;
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out.row_step = in.row_step;
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out.is_dense = in.is_dense;
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out.data.resize (in.data.size ());
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// Copy everything as it's faster than copying individual elements
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memcpy (&out.data[0], &in.data[0], in.data.size ());
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}
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Eigen::Array4i xyz_offset (in.fields[x_idx].offset, in.fields[y_idx].offset, in.fields[z_idx].offset, 0);
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for (size_t i = 0; i < in.width * in.height; ++i)
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{
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Eigen::Vector4f pt (*(float*)&in.data[xyz_offset[0]], *(float*)&in.data[xyz_offset[1]], *(float*)&in.data[xyz_offset[2]], 1);
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Eigen::Vector4f pt_out;
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bool max_range_point = false;
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int distance_ptr_offset = i*in.point_step + in.fields[dist_idx].offset;
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float* distance_ptr = (dist_idx < 0 ? NULL : (float*)(&in.data[distance_ptr_offset]));
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if (!std::isfinite (pt[0]) || !std::isfinite (pt[1]) || !std::isfinite (pt[2]))
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{
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if (distance_ptr==NULL || !std::isfinite(*distance_ptr)) // Invalid point
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{
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pt_out = pt;
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}
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else // max range point
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{
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pt[0] = *distance_ptr; // Replace x with the x value saved in distance
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pt_out = transform * pt;
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max_range_point = true;
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//std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<","<<pt_out[1]<<","<<pt_out[2]<<"\n";
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}
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}
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else
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{
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pt_out = transform * pt;
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}
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if (max_range_point)
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{
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// Save x value in distance again
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*(float*)(&out.data[distance_ptr_offset]) = pt_out[0];
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pt_out[0] = std::numeric_limits<float>::quiet_NaN();
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}
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memcpy (&out.data[xyz_offset[0]], &pt_out[0], sizeof (float));
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memcpy (&out.data[xyz_offset[1]], &pt_out[1], sizeof (float));
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memcpy (&out.data[xyz_offset[2]], &pt_out[2], sizeof (float));
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xyz_offset += in.point_step;
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}
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// Check if the viewpoint information is present
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int vp_idx = pcl::getFieldIndex (in, "vp_x");
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if (vp_idx != -1)
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{
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// Transform the viewpoint info too
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for (size_t i = 0; i < out.width * out.height; ++i)
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{
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float *pstep = (float*)&out.data[i * out.point_step + out.fields[vp_idx].offset];
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// Assume vp_x, vp_y, vp_z are consecutive
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Eigen::Vector4f vp_in (pstep[0], pstep[1], pstep[2], 1);
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Eigen::Vector4f vp_out = transform * vp_in;
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pstep[0] = vp_out[0];
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pstep[1] = vp_out[1];
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pstep[2] = vp_out[2];
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}
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}
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}
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//////////////////////////////////////////////////////////////////////////////////////////////
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void
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transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat)
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{
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double mv[12];
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bt.getBasis ().getOpenGLSubMatrix (mv);
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tf::Vector3 origin = bt.getOrigin ();
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out_mat (0, 0) = mv[0]; out_mat (0, 1) = mv[4]; out_mat (0, 2) = mv[8];
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out_mat (1, 0) = mv[1]; out_mat (1, 1) = mv[5]; out_mat (1, 2) = mv[9];
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out_mat (2, 0) = mv[2]; out_mat (2, 1) = mv[6]; out_mat (2, 2) = mv[10];
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out_mat (3, 0) = out_mat (3, 1) = out_mat (3, 2) = 0; out_mat (3, 3) = 1;
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out_mat (0, 3) = origin.x ();
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out_mat (1, 3) = origin.y ();
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out_mat (2, 3) = origin.z ();
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}
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} // namespace pcl_ros
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//////////////////////////////////////////////////////////////////////////////////////////////
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
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template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud<pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template void pcl_ros::transformPointCloud<pcl::PointXYZ> (const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZI> (const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::InterestPoint> (const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointWithRange> (const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::Transform &);
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template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::Transform &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::TransformListener &);
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//////////////////////////////////////////////////////////////////////////////////////////////
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template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZ> &, const std::string &, pcl::PointCloud <pcl::PointXYZ> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZI> &, const std::string &, pcl::PointCloud <pcl::PointXYZI> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBA> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGB> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::InterestPoint> &, const std::string &, pcl::PointCloud <pcl::InterestPoint> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointNormal> &, const std::string &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointXYZINormal> &, const std::string &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithRange> &, const std::string &, pcl::PointCloud <pcl::PointWithRange> &, const tf::TransformListener &);
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template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const ros::Time &, const pcl::PointCloud <pcl::PointWithViewpoint> &, const std::string &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::TransformListener &);
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