heightmap_utils.h
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00001 // -*- mode: c++ -*-
00002 /*********************************************************************
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00035 
00036 
00037 #ifndef JSK_PCL_ROS_HEIGHTMAP_UTILS_H_
00038 #define JSK_PCL_ROS_HEIGHTMAP_UTILS_H_
00039 
00040 #include <jsk_recognition_msgs/HeightmapConfig.h>
00041 #include "jsk_recognition_utils/pcl_conversion_util.h"
00042 
00043 namespace jsk_pcl_ros
00044 {
00045   typedef pcl::PointXYZI HeightMapPointType;
00046 
00047   inline std::string getHeightmapConfigTopic(const std::string& base_topic)
00048   {
00049     return base_topic + "/config";
00050   }
00051 
00052   inline void convertHeightMapToPCL(const cv::Mat &float_image,
00053                                    pcl::PointCloud<HeightMapPointType > &cloud,
00054                                    float max_x_, float min_x_, float max_y_, float min_y_)
00055   {
00056     int height = float_image.rows;
00057     int width  = float_image.cols;
00058     cloud.points.reserve(float_image.rows * float_image.cols); // normal
00059     double dx = (max_x_ - min_x_) / width;
00060     double dy = (max_y_ - min_y_) / height;
00061     for (size_t j = 0; j < height; j++) {
00062       for (size_t i = 0; i < width; i++) {
00063         float v = float_image.at<cv::Vec2f>(j, i)[0];
00064         float fint = float_image.at<cv::Vec2f>(j, i)[1];
00065         if (v != -FLT_MAX) {
00066           HeightMapPointType p;
00067           p.y = j * dy + min_y_ + dy / 2.0;
00068           p.x = i * dx + min_x_ + dx / 2.0;
00069           p.z = v;
00070           p.intensity = fint;
00071           cloud.points.push_back(p); // normal
00072         }
00073       }
00074     }
00075   }
00076 
00077   inline void convertHeightMapToPCLOrganize(const cv::Mat &float_image,
00078                                            pcl::PointCloud<HeightMapPointType > &cloud,
00079                                            float max_x_, float min_x_, float max_y_, float min_y_)
00080   {
00081     int height = float_image.rows;
00082     int width  = float_image.cols;
00083     cloud.points.resize(height * width); // organized
00084     cloud.width  = width;
00085     cloud.height = height;
00086     double dx = (max_x_ - min_x_) / width;
00087     double dy = (max_y_ - min_y_) / height;
00088     for (size_t j = 0; j < height; j++) {
00089       for (size_t i = 0; i < width; i++) {
00090         float v = float_image.at<cv::Vec2f>(j, i)[0];
00091         float fint = float_image.at<cv::Vec2f>(j, i)[1];
00092         HeightMapPointType p;
00093         p.x = p.y = p.z = std::numeric_limits<float>::quiet_NaN(); // organized
00094         if (v != -FLT_MAX) {
00095           p.y = j * dy + min_y_ + dy / 2.0;
00096           p.x = i * dx + min_x_ + dx / 2.0;
00097           p.z = v;
00098           p.intensity = fint;
00099         }
00100         cloud.points[(j * width) + i] = p; // organized
00101       }
00102     }
00103   }
00104 }
00105 
00106 #endif


jsk_pcl_ros
Author(s): Yohei Kakiuchi
autogenerated on Sun Oct 8 2017 02:43:49