util3d_transforms.cpp

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/*
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
All rights reserved.

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      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.
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      names of its contributors may be used to endorse or promote products
      derived from this software without specific prior written permission.

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*/

#include "rtabmap/core/util3d_transforms.h"

#include <pcl/common/transforms.h>
#include <rtabmap/utilite/ULogger.h>

namespace rtabmap
{

namespace util3d
{

LaserScan transformLaserScan(const LaserScan & laserScan, const Transform & transform)
{
        cv::Mat output = laserScan.data().clone();

        if(!transform.isNull() && !transform.isIdentity())
        {
                Eigen::Affine3f transform3f = transform.toEigen3f();
                int nx = laserScan.getNormalsOffset();
                int ny = nx+1;
                int nz = ny+1;
                for(int i=0; i<laserScan.size(); ++i)
                {
                        const float * ptr = laserScan.data().ptr<float>(0, i);
                        float * out = output.ptr<float>(0, i);
                        if(nx == -1)
                        {
                                pcl::PointXYZ pt(ptr[0], ptr[1], laserScan.is2d()?0:ptr[2]);
                                pt = pcl::transformPoint(pt, transform3f);
                                out[0] = pt.x;
                                out[1] = pt.y;
                                if(!laserScan.is2d())
                                {
                                        out[2] = pt.z;
                                }
                        }
                        else
                        {
                                pcl::PointNormal pt;
                                pt.x=ptr[0];
                                pt.y=ptr[1];
                                pt.z=laserScan.is2d()?0:ptr[2];
                                pt.normal_x=ptr[nx];
                                pt.normal_y=ptr[ny];
                                pt.normal_z=ptr[nz];
                                pt = util3d::transformPoint(pt, transform);
                                out[0] = pt.x;
                                out[1] = pt.y;
                                if(!laserScan.is2d())
                                {
                                        out[2] = pt.z;
                                }
                                out[nx] = pt.normal_x;
                                out[ny] = pt.normal_y;
                                out[nz] = pt.normal_z;
                        }
                }
        }
        if(laserScan.angleIncrement() > 0.0f)
        {
                return LaserScan(output,
                                laserScan.format(),
                                laserScan.rangeMin(),
                                laserScan.rangeMax(),
                                laserScan.angleMin(),
                                laserScan.angleMax(),
                                laserScan.angleIncrement(),
                                laserScan.localTransform());
        }
        else
        {
                return LaserScan(output,
                                laserScan.maxPoints(),
                                laserScan.rangeMax(),
                                laserScan.format(),
                                laserScan.localTransform());
        }
}

pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
        pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZI>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZI>::Ptr output(new pcl::PointCloud<pcl::PointXYZI>);
        pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
        pcl::transformPointCloud(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointNormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
        pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
        pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZINormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZINormal>);
        pcl::transformPointCloudWithNormals(*cloud, *output, transform.toEigen4f());
        return output;
}

pcl::PointCloud<pcl::PointXYZ>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZ>::Ptr output(new pcl::PointCloud<pcl::PointXYZ>);
        pcl::transformPointCloud(*cloud, *indices, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZI>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZI>::Ptr output(new pcl::PointCloud<pcl::PointXYZI>);
        pcl::transformPointCloud(*cloud, *indices, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZRGB>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGB>);
        pcl::transformPointCloud(*cloud, *indices, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointNormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointNormal>::Ptr output(new pcl::PointCloud<pcl::PointNormal>);
        pcl::transformPointCloudWithNormals(*cloud, *indices, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
        pcl::transformPointCloudWithNormals(*cloud, *indices, *output, transform.toEigen4f());
        return output;
}
pcl::PointCloud<pcl::PointXYZINormal>::Ptr transformPointCloud(
                const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
                const pcl::IndicesPtr & indices,
                const Transform & transform)
{
        pcl::PointCloud<pcl::PointXYZINormal>::Ptr output(new pcl::PointCloud<pcl::PointXYZINormal>);
        pcl::transformPointCloudWithNormals(*cloud, *indices, *output, transform.toEigen4f());
        return output;
}

cv::Point3f transformPoint(
                const cv::Point3f & point,
                const Transform & transform)
{
        cv::Point3f ret = point;
        ret.x = transform (0, 0) * point.x + transform (0, 1) * point.y + transform (0, 2) * point.z + transform (0, 3);
        ret.y = transform (1, 0) * point.x + transform (1, 1) * point.y + transform (1, 2) * point.z + transform (1, 3);
        ret.z = transform (2, 0) * point.x + transform (2, 1) * point.y + transform (2, 2) * point.z + transform (2, 3);
        return ret;
}
pcl::PointXYZ transformPoint(
                const pcl::PointXYZ & pt,
                const Transform & transform)
{
        return pcl::transformPoint(pt, transform.toEigen3f());
}
pcl::PointXYZI transformPoint(
                const pcl::PointXYZI & pt,
                const Transform & transform)
{
        return pcl::transformPoint(pt, transform.toEigen3f());
}
pcl::PointXYZRGB transformPoint(
                const pcl::PointXYZRGB & pt,
                const Transform & transform)
{
        pcl::PointXYZRGB ptRGB = pcl::transformPoint(pt, transform.toEigen3f());
        ptRGB.rgb = pt.rgb;
        return ptRGB;
}
pcl::PointNormal transformPoint(
                const pcl::PointNormal & point,
                const Transform & transform)
{
        pcl::PointNormal ret;
        Eigen::Matrix<float, 3, 1> pt (point.x, point.y, point.z);
        ret.x = static_cast<float> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));
        ret.y = static_cast<float> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));
        ret.z = static_cast<float> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));

        // Rotate normals
        Eigen::Matrix<float, 3, 1> nt (point.normal_x, point.normal_y, point.normal_z);
        ret.normal_x = static_cast<float> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));
        ret.normal_y = static_cast<float> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));
        ret.normal_z = static_cast<float> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));
        return ret;
}
pcl::PointXYZRGBNormal transformPoint(
                const pcl::PointXYZRGBNormal & point,
                const Transform & transform)
{
        pcl::PointXYZRGBNormal ret;
        Eigen::Matrix<float, 3, 1> pt (point.x, point.y, point.z);
        ret.x = static_cast<float> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));
        ret.y = static_cast<float> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));
        ret.z = static_cast<float> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));

        // Rotate normals
        Eigen::Matrix<float, 3, 1> nt (point.normal_x, point.normal_y, point.normal_z);
        ret.normal_x = static_cast<float> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));
        ret.normal_y = static_cast<float> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));
        ret.normal_z = static_cast<float> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));

        ret.rgb = point.rgb;
        return ret;
}
pcl::PointXYZINormal transformPoint(
                const pcl::PointXYZINormal & point,
                const Transform & transform)
{
        pcl::PointXYZINormal ret;
        Eigen::Matrix<float, 3, 1> pt (point.x, point.y, point.z);
        ret.x = static_cast<float> (transform (0, 0) * pt.coeffRef (0) + transform (0, 1) * pt.coeffRef (1) + transform (0, 2) * pt.coeffRef (2) + transform (0, 3));
        ret.y = static_cast<float> (transform (1, 0) * pt.coeffRef (0) + transform (1, 1) * pt.coeffRef (1) + transform (1, 2) * pt.coeffRef (2) + transform (1, 3));
        ret.z = static_cast<float> (transform (2, 0) * pt.coeffRef (0) + transform (2, 1) * pt.coeffRef (1) + transform (2, 2) * pt.coeffRef (2) + transform (2, 3));

        // Rotate normals
        Eigen::Matrix<float, 3, 1> nt (point.normal_x, point.normal_y, point.normal_z);
        ret.normal_x = static_cast<float> (transform (0, 0) * nt.coeffRef (0) + transform (0, 1) * nt.coeffRef (1) + transform (0, 2) * nt.coeffRef (2));
        ret.normal_y = static_cast<float> (transform (1, 0) * nt.coeffRef (0) + transform (1, 1) * nt.coeffRef (1) + transform (1, 2) * nt.coeffRef (2));
        ret.normal_z = static_cast<float> (transform (2, 0) * nt.coeffRef (0) + transform (2, 1) * nt.coeffRef (1) + transform (2, 2) * nt.coeffRef (2));

        ret.intensity = point.intensity;
        return ret;
}

}

}