util3d_transforms.cpp

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

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
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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.
    * Neither the name of the Universite de Sherbrooke nor the
      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;
                        }
                }
        }
        return LaserScan(output, laserScan.maxPoints(), laserScan.maxRange(), 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;
}

}

}