transforms.cpp
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00036 
00037 #include <sensor_msgs/PointCloud2.h>
00038 #include <pcl/common/io.h>
00039 #include <pcl/point_types.h>
00040 #include "pcl_ros/transforms.h"
00041 #include "pcl_ros/impl/transforms.hpp"
00042 
00043 namespace pcl_ros
00044 {
00046 bool
00047 transformPointCloud (const std::string &target_frame, const sensor_msgs::PointCloud2 &in, 
00048                      sensor_msgs::PointCloud2 &out, const tf::TransformListener &tf_listener)
00049 {
00050   if (in.header.frame_id == target_frame)
00051   {
00052     out = in;
00053     return (true);
00054   }
00055 
00056   // Get the TF transform
00057   tf::StampedTransform transform;
00058   try
00059   {
00060     tf_listener.lookupTransform (target_frame, in.header.frame_id, in.header.stamp, transform);
00061   }
00062   catch (tf::LookupException &e)
00063   {
00064     ROS_ERROR ("%s", e.what ());
00065     return (false);
00066   }
00067   catch (tf::ExtrapolationException &e)
00068   {
00069     ROS_ERROR ("%s", e.what ());
00070     return (false);
00071   }
00072 
00073   // Convert the TF transform to Eigen format
00074   Eigen::Matrix4f eigen_transform;
00075   transformAsMatrix (transform, eigen_transform);
00076 
00077   transformPointCloud (eigen_transform, in, out);
00078 
00079   out.header.frame_id = target_frame;
00080   return (true);
00081 }
00082 
00084 void 
00085 transformPointCloud (const std::string &target_frame, const tf::Transform &net_transform,
00086                      const sensor_msgs::PointCloud2 &in, sensor_msgs::PointCloud2 &out)
00087 {
00088   if (in.header.frame_id == target_frame)
00089   {
00090     out = in;
00091     return;
00092   }
00093 
00094   // Get the transformation
00095   Eigen::Matrix4f transform;
00096   transformAsMatrix (net_transform, transform);
00097 
00098   transformPointCloud (transform, in, out);
00099 
00100   out.header.frame_id = target_frame;
00101 }
00102 
00104 void 
00105 transformPointCloud (const Eigen::Matrix4f &transform, const sensor_msgs::PointCloud2 &in,
00106                      sensor_msgs::PointCloud2 &out)
00107 {
00108   // Get X-Y-Z indices
00109   int x_idx = pcl::getFieldIndex (in, "x");
00110   int y_idx = pcl::getFieldIndex (in, "y");
00111   int z_idx = pcl::getFieldIndex (in, "z");
00112 
00113   if (x_idx == -1 || y_idx == -1 || z_idx == -1)
00114   {
00115     ROS_ERROR ("Input dataset has no X-Y-Z coordinates! Cannot convert to Eigen format.");
00116     return;
00117   }
00118 
00119   if (in.fields[x_idx].datatype != sensor_msgs::PointField::FLOAT32 || 
00120       in.fields[y_idx].datatype != sensor_msgs::PointField::FLOAT32 || 
00121       in.fields[z_idx].datatype != sensor_msgs::PointField::FLOAT32)
00122   {
00123     ROS_ERROR ("X-Y-Z coordinates not floats. Currently only floats are supported.");
00124     return;
00125   }
00126 
00127   // Check if distance is available
00128   int dist_idx = pcl::getFieldIndex (in, "distance");
00129 
00130   // Copy the other data
00131   if (&in != &out)
00132   {
00133     out.header = in.header;
00134     out.height = in.height;
00135     out.width  = in.width;
00136     out.fields = in.fields;
00137     out.is_bigendian = in.is_bigendian;
00138     out.point_step   = in.point_step;
00139     out.row_step     = in.row_step;
00140     out.is_dense     = in.is_dense;
00141     out.data.resize (in.data.size ());
00142     // Copy everything as it's faster than copying individual elements
00143     memcpy (&out.data[0], &in.data[0], in.data.size ());
00144   }
00145 
00146   Eigen::Array4i xyz_offset (in.fields[x_idx].offset, in.fields[y_idx].offset, in.fields[z_idx].offset, 0);
00147 
00148   for (size_t i = 0; i < in.width * in.height; ++i)
00149   {
00150     Eigen::Vector4f pt (*(float*)&in.data[xyz_offset[0]], *(float*)&in.data[xyz_offset[1]], *(float*)&in.data[xyz_offset[2]], 1);
00151     Eigen::Vector4f pt_out;
00152     
00153     bool max_range_point = false;
00154     int distance_ptr_offset = i*in.point_step + in.fields[dist_idx].offset;
00155     float* distance_ptr = (dist_idx < 0 ? NULL : (float*)(&in.data[distance_ptr_offset]));
00156     if (!std::isfinite (pt[0]) || !std::isfinite (pt[1]) || !std::isfinite (pt[2]))
00157     {
00158       if (distance_ptr==NULL || !std::isfinite(*distance_ptr))  // Invalid point
00159       {
00160         pt_out = pt;
00161       }
00162       else  // max range point
00163       {
00164         pt[0] = *distance_ptr;  // Replace x with the x value saved in distance
00165         pt_out = transform * pt;
00166         max_range_point = true;
00167         //std::cout << pt[0]<<","<<pt[1]<<","<<pt[2]<<" => "<<pt_out[0]<<","<<pt_out[1]<<","<<pt_out[2]<<"\n";
00168       }
00169     }
00170     else
00171     {
00172       pt_out = transform * pt;
00173     }
00174 
00175     if (max_range_point)
00176     {
00177       // Save x value in distance again
00178       *(float*)(&out.data[distance_ptr_offset]) = pt_out[0];
00179       pt_out[0] = std::numeric_limits<float>::quiet_NaN();
00180     }
00181 
00182     memcpy (&out.data[xyz_offset[0]], &pt_out[0], sizeof (float));
00183     memcpy (&out.data[xyz_offset[1]], &pt_out[1], sizeof (float));
00184     memcpy (&out.data[xyz_offset[2]], &pt_out[2], sizeof (float));
00185   
00186     
00187     xyz_offset += in.point_step;
00188   }
00189 
00190   // Check if the viewpoint information is present
00191   int vp_idx = pcl::getFieldIndex (in, "vp_x");
00192   if (vp_idx != -1)
00193   {
00194     // Transform the viewpoint info too
00195     for (size_t i = 0; i < out.width * out.height; ++i)
00196     {
00197       float *pstep = (float*)&out.data[i * out.point_step + out.fields[vp_idx].offset];
00198       // Assume vp_x, vp_y, vp_z are consecutive
00199       Eigen::Vector4f vp_in (pstep[0], pstep[1], pstep[2], 1);
00200       Eigen::Vector4f vp_out = transform * vp_in;
00201 
00202       pstep[0] = vp_out[0];
00203       pstep[1] = vp_out[1];
00204       pstep[2] = vp_out[2];
00205     }
00206   }
00207 }
00208 
00210 void
00211 transformAsMatrix (const tf::Transform& bt, Eigen::Matrix4f &out_mat)
00212 {
00213   double mv[12];
00214   bt.getBasis ().getOpenGLSubMatrix (mv);
00215 
00216   tf::Vector3 origin = bt.getOrigin ();
00217 
00218   out_mat (0, 0) = mv[0]; out_mat (0, 1) = mv[4]; out_mat (0, 2) = mv[8];
00219   out_mat (1, 0) = mv[1]; out_mat (1, 1) = mv[5]; out_mat (1, 2) = mv[9];
00220   out_mat (2, 0) = mv[2]; out_mat (2, 1) = mv[6]; out_mat (2, 2) = mv[10];
00221                                                                      
00222   out_mat (3, 0) = out_mat (3, 1) = out_mat (3, 2) = 0; out_mat (3, 3) = 1;
00223   out_mat (0, 3) = origin.x ();
00224   out_mat (1, 3) = origin.y ();
00225   out_mat (2, 3) = origin.z ();
00226 }
00227 
00228 } // namespace pcl_ros
00229 
00231 template void pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
00232 template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
00233 template void pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
00234 
00236 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointNormal> (const std::string &, const pcl::PointCloud<pcl::PointNormal> &, pcl::PointCloud<pcl::PointNormal> &, const tf::TransformListener &);
00237 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZRGBNormal> &, pcl::PointCloud<pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
00238 template bool pcl_ros::transformPointCloudWithNormals<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud<pcl::PointXYZINormal> &, pcl::PointCloud<pcl::PointXYZINormal> &, const tf::TransformListener &);
00239 
00241 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 &);
00242 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 &);
00243 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 &);
00244 
00246 template void pcl_ros::transformPointCloud<pcl::PointXYZ> (const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::Transform &);
00247 template void pcl_ros::transformPointCloud<pcl::PointXYZI> (const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::Transform &);
00248 template void pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::Transform &);
00249 template void pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::Transform &);
00250 template void pcl_ros::transformPointCloud<pcl::InterestPoint> (const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::Transform &);
00251 template void pcl_ros::transformPointCloud<pcl::PointNormal> (const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::Transform &);
00252 template void pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::Transform &);
00253 template void pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::Transform &);
00254 template void pcl_ros::transformPointCloud<pcl::PointWithRange> (const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::Transform &);
00255 template void pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::Transform &);
00256 
00258 template bool pcl_ros::transformPointCloud<pcl::PointXYZ> (const std::string &, const pcl::PointCloud <pcl::PointXYZ> &, pcl::PointCloud <pcl::PointXYZ> &, const tf::TransformListener &);
00259 template bool pcl_ros::transformPointCloud<pcl::PointXYZI> (const std::string &, const pcl::PointCloud <pcl::PointXYZI> &, pcl::PointCloud <pcl::PointXYZI> &, const tf::TransformListener &);
00260 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBA> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBA> &, pcl::PointCloud <pcl::PointXYZRGBA> &, const tf::TransformListener &);
00261 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGB> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGB> &, pcl::PointCloud <pcl::PointXYZRGB> &, const tf::TransformListener &);
00262 template bool pcl_ros::transformPointCloud<pcl::InterestPoint> (const std::string &, const pcl::PointCloud <pcl::InterestPoint> &, pcl::PointCloud <pcl::InterestPoint> &, const tf::TransformListener &);
00263 template bool pcl_ros::transformPointCloud<pcl::PointNormal> (const std::string &, const pcl::PointCloud <pcl::PointNormal> &, pcl::PointCloud <pcl::PointNormal> &, const tf::TransformListener &);
00264 template bool pcl_ros::transformPointCloud<pcl::PointXYZRGBNormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZRGBNormal> &, pcl::PointCloud <pcl::PointXYZRGBNormal> &, const tf::TransformListener &);
00265 template bool pcl_ros::transformPointCloud<pcl::PointXYZINormal> (const std::string &, const pcl::PointCloud <pcl::PointXYZINormal> &, pcl::PointCloud <pcl::PointXYZINormal> &, const tf::TransformListener &);
00266 template bool pcl_ros::transformPointCloud<pcl::PointWithRange> (const std::string &, const pcl::PointCloud <pcl::PointWithRange> &, pcl::PointCloud <pcl::PointWithRange> &, const tf::TransformListener &);
00267 template bool pcl_ros::transformPointCloud<pcl::PointWithViewpoint> (const std::string &, const pcl::PointCloud <pcl::PointWithViewpoint> &, pcl::PointCloud <pcl::PointWithViewpoint> &, const tf::TransformListener &);
00268 
00270 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 &);
00271 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 &);
00272 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 &);
00273 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 &);
00274 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 &);
00275 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 &);
00276 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 &);
00277 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 &);
00278 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 &);
00279 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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pcl_ros
Author(s): Maintained by Radu Bogdan Rusu
autogenerated on Tue Mar 5 2013 13:54:41