DepthImageToLaserScan.cpp

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/* 
 * Author: Chad Rockey
 */

#include <depthimage_to_laserscan/DepthImageToLaserScan.h>

using namespace depthimage_to_laserscan;
  
DepthImageToLaserScan::DepthImageToLaserScan(){
}

DepthImageToLaserScan::~DepthImageToLaserScan(){
}

double DepthImageToLaserScan::magnitude_of_ray(const cv::Point3d& ray) const{
  return sqrt(pow(ray.x, 2.0) + pow(ray.y, 2.0) + pow(ray.z, 2.0));
}

double DepthImageToLaserScan::angle_between_rays(const cv::Point3d& ray1, const cv::Point3d& ray2) const{
  double dot_product = ray1.x*ray2.x + ray1.y*ray2.y + ray1.z*ray2.z;
  double magnitude1 = magnitude_of_ray(ray1);
  double magnitude2 = magnitude_of_ray(ray2);;
  return acos(dot_product / (magnitude1 * magnitude2));
}

bool DepthImageToLaserScan::use_point(const float new_value, const float old_value, const float range_min, const float range_max) const{  
  // Check for NaNs and Infs, a real number within our limits is more desirable than these.
  bool new_finite = std::isfinite(new_value);
  bool old_finite = std::isfinite(old_value);
  
  // Infs are preferable over NaNs (more information)
  if(!new_finite && !old_finite){ // Both are not NaN or Inf.
    if(!isnan(new_value)){ // new is not NaN, so use it's +-Inf value.
      return true;
    }
    return false; // Do not replace old_value
  }
  
  // If not in range, don't bother
  bool range_check = range_min <= new_value && new_value <= range_max;
  if(!range_check){
    return false;
  }
  
  if(!old_finite){ // New value is in range and finite, use it.
    return true;
  }
  
  // Finally, if they are both numerical and new_value is closer than old_value, use new_value.
  bool shorter_check = new_value < old_value;
  return shorter_check;
}

sensor_msgs::LaserScanPtr DepthImageToLaserScan::convert_msg(const sensor_msgs::ImageConstPtr& depth_msg,
              const sensor_msgs::CameraInfoConstPtr& info_msg){
  // Set camera model
  cam_model_.fromCameraInfo(info_msg);
  
  // Calculate angle_min and angle_max by measuring angles between the left ray, right ray, and optical center ray
  cv::Point2d raw_pixel_left(0, cam_model_.cy());
  cv::Point2d rect_pixel_left = cam_model_.rectifyPoint(raw_pixel_left);
  cv::Point3d left_ray = cam_model_.projectPixelTo3dRay(rect_pixel_left);
  
  cv::Point2d raw_pixel_right(depth_msg->width-1, cam_model_.cy());
  cv::Point2d rect_pixel_right = cam_model_.rectifyPoint(raw_pixel_right);
  cv::Point3d right_ray = cam_model_.projectPixelTo3dRay(rect_pixel_right);
  
  cv::Point2d raw_pixel_center(cam_model_.cx(), cam_model_.cy());
  cv::Point2d rect_pixel_center = cam_model_.rectifyPoint(raw_pixel_center);
  cv::Point3d center_ray = cam_model_.projectPixelTo3dRay(rect_pixel_center);
  
  double angle_max = angle_between_rays(left_ray, center_ray);
  double angle_min = -angle_between_rays(center_ray, right_ray); // Negative because the laserscan message expects an opposite rotation of that from the depth image
  
  // Fill in laserscan message
  sensor_msgs::LaserScanPtr scan_msg(new sensor_msgs::LaserScan());
  scan_msg->header = depth_msg->header;
  if(output_frame_id_.length() > 0){
    scan_msg->header.frame_id = output_frame_id_;
  }
  scan_msg->angle_min = angle_min;
  scan_msg->angle_max = angle_max;
  scan_msg->angle_increment = (scan_msg->angle_max - scan_msg->angle_min) / depth_msg->width;
  scan_msg->time_increment = 0.0;
  scan_msg->scan_time = scan_time_;
  scan_msg->range_min = range_min_;
  scan_msg->range_max = range_max_;
  
  // Check scan_height vs image_height
  if(scan_height_/2 > cam_model_.cy() || scan_height_/2 > depth_msg->height - cam_model_.cy()){
    std::stringstream ss;
    ss << "scan_height ( " << scan_height_ << " pixels) is too large for the image height.";
    throw std::runtime_error(ss.str());
  }

  // Calculate and fill the ranges
  uint32_t ranges_size = depth_msg->width;
  scan_msg->ranges.assign(ranges_size, std::numeric_limits<float>::quiet_NaN());
  
  if (depth_msg->encoding == sensor_msgs::image_encodings::TYPE_16UC1)
  {
    convert<uint16_t>(depth_msg, cam_model_, scan_msg, scan_height_);
  }
  else if (depth_msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1)
  {
    convert<float>(depth_msg, cam_model_, scan_msg, scan_height_);
  }
  else
  {
    std::stringstream ss;
    ss << "Depth image has unsupported encoding: " << depth_msg->encoding;
    throw std::runtime_error(ss.str());
  }
  
  return scan_msg;
}

void DepthImageToLaserScan::set_scan_time(const float scan_time){
  scan_time_ = scan_time;
}

void DepthImageToLaserScan::set_range_limits(const float range_min, const float range_max){
  range_min_ = range_min;
  range_max_ = range_max;
}

void DepthImageToLaserScan::set_scan_height(const int scan_height){
  scan_height_ = scan_height;
}

void DepthImageToLaserScan::set_output_frame(const std::string output_frame_id){
  output_frame_id_ = output_frame_id;
}