深度图转点云图代码

Posted 2020-10-14 每天一点积累

/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS2
#define DEPTH_IMAGE_PROC_DEPTH_CONVERSIONS2

#include <sensor_msgs/Image.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <image_geometry/pinhole_camera_model.h>
#include <depth_traits2.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

#include <limits>
namespace depth_image_proc2{

// Handles float or uint16 depths
template<typename T>
void convert(
    const sensor_msgs::ImageConstPtr& depth_msg,
    pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud,
    double cx,
    double cy,
    double fx,
    double fy,
    double range_max = 0.0)
{
  // Use correct principal point from calibration
  float center_x = cx;
  float center_y = cy;

  // Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
  double unit_scaling = DepthTraits<T>::toMeters( T(1) );
  float constant_x = unit_scaling / fx;
  float constant_y = unit_scaling / fy;
  float bad_point = std::numeric_limits<float>::quiet_NaN();


  pcl::PointCloud<pcl::PointXYZ>::iterator cloud_iterator = cloud->begin();
  const T* depth_row = reinterpret_cast<const T*>(&depth_msg->data[0]);
  int row_step = depth_msg->step / sizeof(T);
  int cloud_height = cloud->height;
  int cloud_width = cloud->width;

  for (int v = 0; v < cloud_height; ++v, depth_row += row_step)
  {
    for (int u = 0; u < cloud_width; ++u, ++cloud_iterator)
    {
      T depth = depth_row[u];

      // Missing points denoted by NaNs
      if (!DepthTraits<T>::valid(depth))
      {
        if (range_max != 0.0)
        {
          depth = DepthTraits<T>::fromMeters(range_max);
        }
        else
        {
          cloud_iterator->x =  cloud_iterator->y = cloud_iterator->z = bad_point;
          continue;
        }
      }

      // Fill in XYZ
      cloud_iterator->x = (u - center_x) * depth * constant_x;
      cloud_iterator->y = (v - center_y) * depth * constant_y;
      cloud_iterator->z = DepthTraits<T>::toMeters(depth);

    }
  }
}

} // namespace depth_image_proc

#endif

/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef DEPTH_IMAGE_PROC_DEPTH_TRAITS2
#define DEPTH_IMAGE_PROC_DEPTH_TRAITS2

#include <algorithm>
#include <limits>

namespace depth_image_proc2 {

// Encapsulate differences between processing float and uint16_t depths
template<typename T> struct DepthTraits {};
template<>
struct DepthTraits<uint16_t>
{
  static inline bool valid(uint16_t depth) { return depth != 0; }
  static inline float toMeters(uint16_t depth) { return depth * 0.001f; } // originally mm
  static inline uint16_t fromMeters(float depth) { return (depth * 1000.0f) + 0.5f; }
  static inline void initializeBuffer(std::vector<uint8_t>& buffer) {} // Do nothing - already zero-filled
};

template<>
struct DepthTraits<float>
{
  static inline bool valid(float depth) { return std::isfinite(depth); }
  static inline float toMeters(float depth) { return depth; }
  static inline float fromMeters(float depth) { return depth; }

  static inline void initializeBuffer(std::vector<uint8_t>& buffer)
  {
    float* start = reinterpret_cast<float*>(&buffer[0]);
    float* end = reinterpret_cast<float*>(&buffer[0] + buffer.size());
    std::fill(start, end, std::numeric_limits<float>::quiet_NaN());
  }
};

} // namespace depth_image_proc

#endif