depth_to_pointcloud.cpp
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00034 
00035 
00036 #include "image_cb_detector/depth_to_pointcloud.h"
00037 
00038 
00039 
00040 DepthToPointCloud::DepthToPointCloud()
00041 {
00042   // TODO Auto-generated constructor stub
00043 
00044 }
00045 
00046 DepthToPointCloud::~DepthToPointCloud()
00047 {
00048   // TODO Auto-generated destructor stub
00049 }
00050 
00051 void DepthToPointCloud::initialize(sensor_msgs::ImageConstPtr depth_msg,
00052                                    sensor_msgs::CameraInfoConstPtr camera_info_msg)
00053 {
00054   if (!depth_msg || !camera_info_msg)
00055   {
00056     return;
00057   }
00058 
00059   std::size_t width = depth_msg->width;
00060   std::size_t height = depth_msg->height;
00061 
00062   if (width != projection_map_x_.size() || height !=projection_map_y_.size())
00063   {
00064     // Procompute 3D projection matrix
00065     //
00066     // The following computation of center_x,y and fx,fy duplicates
00067     // code in the image_geometry package, but this avoids dependency
00068     // on OpenCV, which simplifies releasing rviz.
00069 
00070     // Use correct principal point from calibration
00071     float center_x = camera_info_msg->P[2] - camera_info_msg->roi.x_offset;
00072     float center_y = camera_info_msg->P[6] - camera_info_msg->roi.y_offset;
00073 
00074     // Combine unit conversion (if necessary) with scaling by focal length for computing (X,Y)
00075     double scale_x = camera_info_msg->binning_x > 1 ? (1.0 / camera_info_msg->binning_x) : 1.0;
00076     double scale_y = camera_info_msg->binning_y > 1 ? (1.0 / camera_info_msg->binning_y) : 1.0;
00077 
00078     double fx = camera_info_msg->P[0] * scale_x;
00079     double fy = camera_info_msg->P[5] * scale_y;
00080 
00081     float constant_x = 1.0f / fx;
00082     float constant_y = 1.0f / fy;
00083 
00084     projection_map_x_.resize(width);
00085     projection_map_y_.resize(height);
00086     std::vector<float>::iterator projX = projection_map_x_.begin();
00087     std::vector<float>::iterator projY = projection_map_y_.begin();
00088 
00089     // precompute 3D projection matrix
00090     for (int v = 0; v < height; ++v, ++projY)
00091       *projY = (v - center_y) * constant_y;
00092 
00093     for (int u = 0; u < width; ++u, ++projX)
00094       *projX = (u - center_x) * constant_x;
00095   }
00096 }
00097 


image_cb_detector
Author(s): Vijay Pradeep, Eitan Marder-Eppstein
autogenerated on Tue Sep 27 2016 04:06:37