static void update_distance(const GpsSnapshot *gpsSnapshot)
{
const GeoPoint prev = gpsSnapshot->previousPoint;
const GeoPoint curr = gpsSnapshot->sample.point;
if (!isValidPoint(&prev) || !isValidPoint(&curr))
return;
g_distance += distPythag(&prev, &curr) / 1000;
}
int doSearch(Point start){
int minDist = INT_MAX;
pointInMap(start) = 0;
push(start)
while (queueIsNotEmpty) {
Point curr = pop();
int i;
for (i = 0; i < MOVCOUNT; i++) {
Point next = nextPoint(curr, i);
if (isValidPoint(next)) {
if (pointInMap(next) == SPOTB && minDist > pointInMap(curr)) {
minDist = pointInMap(curr);
} else if (pointInMap(next) == SPOTA) {
pointInMap(next) = 0;
push(next);
} else if (pointInMap(next) == EMPTY) {
pointInMap(next) = pointInMap(curr) + 1;
push(next);
} else if (pointInMap(next) > pointInMap(curr) + 1) {
pointInMap(next) = pointInMap(curr) + 1;
push(next);
}
}
}
}
return minDist;
}
void search(Step start){
int x, y;
for (x = 0; x < mapSize.width; x++){
for (y = 0; y < mapSize.height; y++){
visited[x][y] = 0;
}
}
pushHeap(start);
while(heapIndex >= 0){
Step step = popHeap();
if(finished(step)){
//printf("FOUND: %d, %d.\tValue: %d\tIndex: %d\n", step.point.x, step.point.y, step.distance, heapIndex);
min = step.distance;
break;
}
if(visited[step.point.x][step.point.y]){
continue;
}
visited[step.point.x][step.point.y] = 1;
int i;
for(i = 0; i < 8; i++){
Point next = nextPoint(step.point, i);
if(isValidPoint(next)){
pushHeap(makeStep(next, step.distance + map[next.x][next.y]));
}
}
}
}
void HeightmapTimeAccumulation::accumulate(
const sensor_msgs::Image::ConstPtr& msg)
{
boost::mutex::scoped_lock lock(mutex_);
if (!config_) {
JSK_NODELET_ERROR("no ~input/config is yet available");
return;
}
tf::StampedTransform tf_transform;
tf_->lookupTransform(fixed_frame_id_, center_frame_id_,
msg->header.stamp,
tf_transform);
Eigen::Affine3f from_center_to_fixed;
tf::transformTFToEigen(tf_transform, from_center_to_fixed);
cv::Mat new_heightmap = cv_bridge::toCvShare(
msg, sensor_msgs::image_encodings::TYPE_32FC1)->image;
// Transform prev_cloud_ to current frame
Eigen::Affine3f from_prev_to_current
= prev_from_center_to_fixed_.inverse() * from_center_to_fixed;
pcl::PointCloud<pcl::PointXYZ> transformed_pointcloud;
pcl::transformPointCloud(prev_cloud_, transformed_pointcloud, from_prev_to_current.inverse());
for (size_t i = 0; i < transformed_pointcloud.points.size(); i++) {
pcl::PointXYZ p = transformed_pointcloud.points[i];
if (isValidPoint(p)) {
cv::Point index = toIndex(p, new_heightmap);
if (isValidIndex(index, new_heightmap)) {
if (!isValidCell(index, new_heightmap)) {
new_heightmap.at<float>(index.y, index.x) = p.z;
}
}
}
}
publishHeightmap(new_heightmap, msg->header);
prev_from_center_to_fixed_ = from_center_to_fixed;
}
void FboMaskShape::replacePoint(FboMaskSelection& selection){
if(selection.valid && !selection.midPoint){
int max = points.size();
if(isValidPoint(selection)){
points[selection.pointID] = selection.point;
}
}
}
void FboMaskShape::deletePoint(FboMaskSelection& selection){
if(selection.valid && !selection.midPoint){
int max = points.size();
if(isValidPoint(selection)){
points.erase(points.begin()+selection.pointID);
}
}
}
int isStartPointValid(const Track *t)
{
if (NULL == t)
return 0;
const GeoPoint p = getStartPoint(t);
return isValidPoint(&p);
}
double[][] costMap(double energyMap[][],int len1,int len2){
double costMap[len1][len2];
//Compute the costs of the top (i.e. the values)
for(int j=0;j<len2;j++){
costMap[0][j]=energyMap[0][j];
}
//Compute the rest of the minimum costs
for(int i=1;i<len1;i++){
for(int j=0;j<len2;j++){
double min=Double.MAX_VALUE;
if(isValidPoint(costMap,i-1,j-1,len1,len2) && costMap[i-1][j-1]<min) min=costMap[i-1][j-1];
if(isValidPoint(costMap,i-1,j,len1,len2) && costMap[i-1][j]<min) min=costMap[i-1][j];
if(isValidPoint(costMap,i-1,j+1,len1,len2) && costMap[i-1][j+1]<min) min=costMap[i-1][j+1];
costMap[i][j]=min+energyMap[i][j];
}
}
return costMap;
}
BYTE Utils::PointToPos(CPoint Point)
{
if (isValidPoint(Point))
{
return 16 * (BYTE(Point.y) - 1) + BYTE(Point.x);
}
else
{
return 0;
}
}
void FboMaskShape::insertPoint(FboMaskSelection& selection){
if(selection.valid && selection.midPoint){
int max = points.size();
if(max > 1 && isValidPoint(selection)){
points.insert(points.begin()+selection.pointID+1, selection.point);
//ofxVec2f& pointA = points[i];
//ofxVec2f& pointB = points[(i+1)%max];
}
}
}
GeoPoint getSectorGeoPointAtIndex(const Track *t, int index)
{
if (index < 0) index = 0;
const int max = isStage(t) ? STAGE_SECTOR_COUNT : CIRCUIT_SECTOR_COUNT;
const GeoPoint *sectors = isStage(t) ? t->stage.sectors : t->circuit.sectors;
if (index < max && isValidPoint(sectors + index))
return sectors[index];
// If here, return the finish since that is logically the next sector point.
return getFinishPoint(t);
}
void color(Point start, int col){
push(start);
while (queueIsNotEmpty) {
Point curr = pop();
pointInMap(curr) = col;
int i;
for (i = 0; i < MOVCOUNT; i++) {
Point next = nextPoint(curr, i);
if (isValidPoint(next) && pointInMap(next) == SPOT) {
push(next);
}
}
}
resetQueue();
}
void fillAreaWithNumber(Point point, int number){
stackIndex = -1;
pushStack(point);
while(stackIndex >= 0){
point = popStack();
map[point.x][point.y] = 0;
sea[point.x][point.y] = number;
if(visited[point.x][point.y]) continue;
visited[point.x][point.y] = 1;
int i;
for(i = 0; i < 8; i++){
Point next = nextPoint(point, i);
if(isValidPoint(next) && map[next.x][next.y] < 0){
pushStack(next);
}
}
}
}
void Stereoproc::imageCb(
const sensor_msgs::ImageConstPtr& l_raw_msg,
const sensor_msgs::CameraInfoConstPtr& l_info_msg,
const sensor_msgs::ImageConstPtr& r_raw_msg,
const sensor_msgs::CameraInfoConstPtr& r_info_msg)
{
boost::lock_guard<boost::recursive_mutex> config_lock(config_mutex_);
boost::lock_guard<boost::mutex> connect_lock(connect_mutex_);
int level = connected_.level();
NODELET_DEBUG("got images, level %d", level);
// Update the camera model
model_.fromCameraInfo(l_info_msg, r_info_msg);
cv::cuda::Stream l_strm, r_strm;
cv::cuda::GpuMat l_raw, r_raw;
std::vector<GPUSender::Ptr> senders;
// Create cv::Mat views onto all buffers
const cv::Mat l_cpu_raw = cv_bridge::toCvShare(
l_raw_msg,
l_raw_msg->encoding)->image;
cv::cuda::registerPageLocked(const_cast<cv::Mat&>(l_cpu_raw));
const cv::Mat r_cpu_raw = cv_bridge::toCvShare(
r_raw_msg,
l_raw_msg->encoding)->image;
cv::cuda::registerPageLocked(const_cast<cv::Mat&>(r_cpu_raw));
l_raw.upload(l_cpu_raw, l_strm);
r_raw.upload(r_cpu_raw, r_strm);
cv::cuda::GpuMat l_mono;
if(connected_.DebayerMonoLeft || connected_.RectifyMonoLeft || connected_.Disparity || connected_.DisparityVis || connected_.Pointcloud)
{
cv::cuda::demosaicing(l_raw, l_mono, CV_BayerRG2GRAY, 1, l_strm);
}
if(connected_.DebayerMonoLeft)
{
GPUSender::Ptr t(new GPUSender(l_raw_msg, sensor_msgs::image_encodings::MONO8, &pub_mono_left_));
senders.push_back(t);
t->enqueueSend(l_mono, l_strm);
}
cv::cuda::GpuMat r_mono;
if(connected_.DebayerMonoRight || connected_.RectifyMonoRight || connected_.Disparity || connected_.DisparityVis || connected_.Pointcloud)
{
cv::cuda::demosaicing(r_raw, r_mono, CV_BayerRG2GRAY, 1, r_strm);
}
if(connected_.DebayerMonoRight)
{
GPUSender::Ptr t(new GPUSender(r_raw_msg, sensor_msgs::image_encodings::MONO8, &pub_mono_right_));
senders.push_back(t);
t->enqueueSend(r_mono, r_strm);
}
cv::cuda::GpuMat l_color;
if(connected_.DebayerColorLeft || connected_.RectifyColorLeft || connected_.Pointcloud)
{
cv::cuda::demosaicing(l_raw, l_color, CV_BayerRG2BGR, 3, l_strm);
}
if(connected_.DebayerColorLeft)
{
GPUSender::Ptr t(new GPUSender(l_raw_msg, sensor_msgs::image_encodings::BGR8, &pub_color_left_));
senders.push_back(t);
t->enqueueSend(l_color, l_strm);
}
cv::cuda::GpuMat r_color;
if(connected_.DebayerColorRight || connected_.RectifyColorRight)
{
cv::cuda::demosaicing(r_raw, r_color, CV_BayerRG2BGR, 3, r_strm);
}
if(connected_.DebayerColorRight)
{
GPUSender::Ptr t(new GPUSender(r_raw_msg, sensor_msgs::image_encodings::BGR8, &pub_color_right_));
senders.push_back(t);
t->enqueueSend(r_color, r_strm);
}
cv::cuda::GpuMat l_rect_mono, r_rect_mono;
if(connected_.RectifyMonoLeft || connected_.Disparity || connected_.DisparityVis || connected_.Pointcloud)
{
model_.left().rectifyImageGPU(l_mono, l_rect_mono, cv::INTER_LINEAR, l_strm);
}
if(connected_.RectifyMonoRight || connected_.Disparity || connected_.DisparityVis || connected_.Pointcloud)
{
model_.right().rectifyImageGPU(r_mono, r_rect_mono, cv::INTER_LINEAR, r_strm);
}
if(connected_.RectifyMonoLeft)
{
GPUSender::Ptr t(new GPUSender(l_raw_msg, sensor_msgs::image_encodings::MONO8, &pub_mono_rect_left_));
senders.push_back(t);
t->enqueueSend(l_rect_mono, l_strm);
}
if(connected_.RectifyMonoRight)
{
GPUSender::Ptr t(new GPUSender(r_raw_msg, sensor_msgs::image_encodings::MONO8, &pub_mono_rect_right_));
senders.push_back(t);
t->enqueueSend(r_rect_mono, r_strm);
}
cv::cuda::GpuMat l_rect_color, r_rect_color;
if(connected_.RectifyColorLeft || connected_.Pointcloud)
{
model_.left().rectifyImageGPU(l_color, l_rect_color, cv::INTER_LINEAR, l_strm);
}
if(connected_.RectifyColorRight)
{
model_.right().rectifyImageGPU(r_color, r_rect_color, cv::INTER_LINEAR, r_strm);
}
if(connected_.RectifyColorLeft)
{
GPUSender::Ptr t(new GPUSender(l_raw_msg, sensor_msgs::image_encodings::BGR8, &pub_color_rect_left_));
senders.push_back(t);
t->enqueueSend(l_rect_color, l_strm);
}
if(connected_.RectifyColorRight)
{
GPUSender::Ptr t(new GPUSender(r_raw_msg, sensor_msgs::image_encodings::BGR8, &pub_color_rect_right_));
senders.push_back(t);
t->enqueueSend(r_rect_color, r_strm);
}
cv::cuda::GpuMat disparity;
cv::cuda::GpuMat disparity_16s;
cv::cuda::GpuMat disparity_filtered;
if(connected_.Disparity || connected_.DisparityVis || connected_.Pointcloud)
{
r_strm.waitForCompletion();
block_matcher_->compute(l_rect_mono, r_rect_mono, disparity, l_strm);
//allocate cpu-side resource
filter_buf_.create(l_rect_mono.size(), CV_16SC1);
//enqueueDownload
disparity.convertTo(disparity_16s, CV_16SC1, 16, l_strm);
disparity_16s.download(filter_buf_, l_strm);
l_strm.waitForCompletion();
filterSpeckles();
//enqueueUpload
disparity_16s.upload(filter_buf_, l_strm);
if(bilateral_filter_enabled_)
{
bilateral_filter_->apply(disparity_16s, l_rect_mono, disparity_filtered);
disparity_filtered.convertTo(disparity, CV_32FC1, 1/16.);
} else {
disparity_16s.convertTo(disparity, CV_32FC1, 1/16.);
}
}
if(connected_.Disparity)
{
cv::cuda::GpuMat disparity_float;
if(disparity.type() != CV_32F)
disparity.convertTo(disparity_float, CV_32FC1);
else
disparity_float = disparity;
// Adjust for any x-offset between the principal points: d' = d - (cx_l - cx_r)
double cx_l = model_.left().cx();
double cx_r = model_.right().cx();
if (cx_l != cx_r)
{
cv::cuda::subtract(disparity_float, cv::Scalar(cx_l - cx_r),
disparity_float, cv::cuda::GpuMat(), -1, l_strm);
}
// Allocate new disparity image message
disp_msg_.reset(new stereo_msgs::DisparityImage());
disp_msg_->header = l_info_msg->header;
disp_msg_->image.header = l_info_msg->header;
// Compute window of (potentially) valid disparities
int border = block_matcher_->getBlockSize() / 2;
int left = block_matcher_->getNumDisparities() + block_matcher_min_disparity_ + border - 1;
int wtf = (block_matcher_min_disparity_ >= 0) ? border + block_matcher_min_disparity_ : std::max(border, -block_matcher_min_disparity_);
int right = disp_msg_->image.width - 1 - wtf;
int top = border;
int bottom = disp_msg_->image.height - 1 - border;
disp_msg_->valid_window.x_offset = left;
disp_msg_->valid_window.y_offset = top;
disp_msg_->valid_window.width = right - left;
disp_msg_->valid_window.height = bottom - top;
disp_msg_->min_disparity = block_matcher_min_disparity_ + 1;
disp_msg_->max_disparity = block_matcher_min_disparity_ + block_matcher_->getNumDisparities() - 1;
disp_msg_->image.height = l_rect_mono.rows;
disp_msg_->image.width = l_rect_mono.cols;
disp_msg_->image.encoding = sensor_msgs::image_encodings::TYPE_32FC1;
disp_msg_->image.step = l_rect_mono.cols * sizeof(float);
disp_msg_->image.data.resize(disp_msg_->image.step*disp_msg_->image.height);
disp_msg_data_ = cv::Mat_<float> (disp_msg_->image.height,
disp_msg_->image.width,
(float *)&disp_msg_->image.data[0],
disp_msg_->image.step);
cv::cuda::registerPageLocked(disp_msg_data_);
disparity_float.download(disp_msg_data_, l_strm);
l_strm.enqueueHostCallback(
[](int status, void *userData)
{
(void)status;
static_cast<Stereoproc*>(userData)->sendDisparity();
},
(void*)this);
}
if(connected_.DisparityVis)
{
GPUSender::Ptr t(new GPUSender(l_raw_msg,
sensor_msgs::image_encodings::BGRA8, &pub_disparity_vis_));
senders.push_back(t);
cv::cuda::GpuMat disparity_int(l_cpu_raw.size(), CV_16SC1);
cv::cuda::GpuMat disparity_image(l_cpu_raw.size(), CV_8UC4);
int ndisp = block_matcher_->getNumDisparities();
if(disparity.type() == CV_32F)
{
disparity.convertTo(disparity_int, CV_16SC1, 16, 0, l_strm);
ndisp *= 16;
}
else
disparity_int = disparity;
try
{
cv::cuda::drawColorDisp(disparity_int, disparity_image, ndisp, l_strm);
t->enqueueSend(disparity_image, l_strm);
}
catch(cv::Exception e)
{
NODELET_ERROR_STREAM("Unable to draw color disparity: " << e.err <<
"in " << e.file << ":" << e.func <<
" line " << e.line);
}
}
cv::cuda::GpuMat xyz;
if(connected_.Pointcloud)
{
model_.projectDisparityImageTo3dGPU(disparity, xyz, true, l_strm);
cv::cuda::HostMem cuda_xyz(l_cpu_raw.size(), CV_32FC3);
xyz.download(cuda_xyz, l_strm);
cv::Mat l_cpu_color(l_cpu_raw.size(), CV_8UC3);
l_color.download(l_cpu_color, l_strm);
sensor_msgs::PointCloud2Ptr points_msg = boost::make_shared<sensor_msgs::PointCloud2>();
points_msg->header = l_raw_msg->header;
points_msg->height = l_cpu_raw.rows;
points_msg->width = l_cpu_raw.cols;
points_msg->fields.resize (4);
points_msg->fields[0].name = "x";
points_msg->fields[0].offset = 0;
points_msg->fields[0].count = 1;
points_msg->fields[0].datatype = sensor_msgs::PointField::FLOAT32;
points_msg->fields[1].name = "y";
points_msg->fields[1].offset = 4;
points_msg->fields[1].count = 1;
points_msg->fields[1].datatype = sensor_msgs::PointField::FLOAT32;
points_msg->fields[2].name = "z";
points_msg->fields[2].offset = 8;
points_msg->fields[2].count = 1;
points_msg->fields[2].datatype = sensor_msgs::PointField::FLOAT32;
points_msg->fields[3].name = "rgb";
points_msg->fields[3].offset = 12;
points_msg->fields[3].count = 1;
points_msg->fields[3].datatype = sensor_msgs::PointField::FLOAT32;
//points_msg->is_bigendian = false; ???
static const int STEP = 16;
points_msg->point_step = STEP;
points_msg->row_step = points_msg->point_step * points_msg->width;
points_msg->data.resize (points_msg->row_step * points_msg->height);
points_msg->is_dense = false; // there may be invalid points
l_strm.waitForCompletion();
cv::Mat_<cv::Vec3f> cpu_xyz = cuda_xyz.createMatHeader();
float bad_point = std::numeric_limits<float>::quiet_NaN ();
int offset = 0;
for (int v = 0; v < cpu_xyz.rows; ++v)
{
for (int u = 0; u < cpu_xyz.cols; ++u, offset += STEP)
{
if (isValidPoint(cpu_xyz(v,u)))
{
// x,y,z,rgba
memcpy (&points_msg->data[offset + 0], &cpu_xyz(v,u)[0], sizeof (float));
memcpy (&points_msg->data[offset + 4], &cpu_xyz(v,u)[1], sizeof (float));
memcpy (&points_msg->data[offset + 8], &cpu_xyz(v,u)[2], sizeof (float));
}
else
{
memcpy (&points_msg->data[offset + 0], &bad_point, sizeof (float));
memcpy (&points_msg->data[offset + 4], &bad_point, sizeof (float));
memcpy (&points_msg->data[offset + 8], &bad_point, sizeof (float));
}
}
}
// Fill in color
offset = 0;
const cv::Mat_<cv::Vec3b> color(l_cpu_color);
for (int v = 0; v < cpu_xyz.rows; ++v)
{
for (int u = 0; u < cpu_xyz.cols; ++u, offset += STEP)
{
if (isValidPoint(cpu_xyz(v,u)))
{
const cv::Vec3b& bgr = color(v,u);
int32_t rgb_packed = (bgr[2] << 16) | (bgr[1] << 8) | bgr[0];
memcpy (&points_msg->data[offset + 12], &rgb_packed, sizeof (int32_t));
}
else
{
memcpy (&points_msg->data[offset + 12], &bad_point, sizeof (float));
}
}
}
pub_pointcloud_.publish(points_msg);
}
l_strm.waitForCompletion();
r_strm.waitForCompletion();
if(connected_.Disparity)
cv::cuda::unregisterPageLocked(disp_msg_data_);
//if(connected_.Disparity || connected_.DisparityVis || connected_.Pointcloud)
// cv::cuda::unregisterPageLocked(filter_buf_);
cv::cuda::unregisterPageLocked( const_cast<cv::Mat&>(l_cpu_raw) );
cv::cuda::unregisterPageLocked( const_cast<cv::Mat&>(r_cpu_raw) );
}
void StereoProcessor::processPoints2(const stereo_msgs::DisparityImage& disparity,
const cv::Mat& color, const std::string& encoding,
const image_geometry::StereoCameraModel& model,
sensor_msgs::PointCloud2& points) const
{
// Calculate dense point cloud
const sensor_msgs::Image& dimage = disparity.image;
const cv::Mat_<float> dmat(dimage.height, dimage.width, (float*)&dimage.data[0], dimage.step);
model.projectDisparityImageTo3d(dmat, dense_points_, true);
// Fill in sparse point cloud message
points.height = dense_points_.rows;
points.width = dense_points_.cols;
points.fields.resize (4);
points.fields[0].name = "x";
points.fields[0].offset = 0;
points.fields[0].count = 1;
points.fields[0].datatype = sensor_msgs::PointField::FLOAT32;
points.fields[1].name = "y";
points.fields[1].offset = 4;
points.fields[1].count = 1;
points.fields[1].datatype = sensor_msgs::PointField::FLOAT32;
points.fields[2].name = "z";
points.fields[2].offset = 8;
points.fields[2].count = 1;
points.fields[2].datatype = sensor_msgs::PointField::FLOAT32;
points.fields[3].name = "rgb";
points.fields[3].offset = 12;
points.fields[3].count = 1;
points.fields[3].datatype = sensor_msgs::PointField::FLOAT32;
//points.is_bigendian = false; ???
points.point_step = 16;
points.row_step = points.point_step * points.width;
points.data.resize (points.row_step * points.height);
points.is_dense = false; // there may be invalid points
float bad_point = std::numeric_limits<float>::quiet_NaN ();
int i = 0;
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v, ++i) {
if (isValidPoint(dense_points_(u,v))) {
// x,y,z,rgba
memcpy (&points.data[i * points.point_step + 0], &dense_points_(u,v)[0], sizeof (float));
memcpy (&points.data[i * points.point_step + 4], &dense_points_(u,v)[1], sizeof (float));
memcpy (&points.data[i * points.point_step + 8], &dense_points_(u,v)[2], sizeof (float));
}
else {
memcpy (&points.data[i * points.point_step + 0], &bad_point, sizeof (float));
memcpy (&points.data[i * points.point_step + 4], &bad_point, sizeof (float));
memcpy (&points.data[i * points.point_step + 8], &bad_point, sizeof (float));
}
}
}
// Fill in color
namespace enc = sensor_msgs::image_encodings;
i = 0;
if (encoding == enc::MONO8) {
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v, ++i) {
if (isValidPoint(dense_points_(u,v))) {
uint8_t g = color.at<uint8_t>(u,v);
int32_t rgb = (g << 16) | (g << 8) | g;
memcpy (&points.data[i * points.point_step + 12], &rgb, sizeof (int32_t));
}
else {
memcpy (&points.data[i * points.point_step + 12], &bad_point, sizeof (float));
}
}
}
}
else if (encoding == enc::RGB8) {
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v, ++i) {
if (isValidPoint(dense_points_(u,v))) {
const cv::Vec3b& rgb = color.at<cv::Vec3b>(u,v);
int32_t rgb_packed = (rgb[0] << 16) | (rgb[1] << 8) | rgb[2];
memcpy (&points.data[i * points.point_step + 12], &rgb_packed, sizeof (int32_t));
}
else {
memcpy (&points.data[i * points.point_step + 12], &bad_point, sizeof (float));
}
}
}
}
else if (encoding == enc::BGR8) {
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v, ++i) {
if (isValidPoint(dense_points_(u,v))) {
const cv::Vec3b& bgr = color.at<cv::Vec3b>(u,v);
int32_t rgb_packed = (bgr[2] << 16) | (bgr[1] << 8) | bgr[0];
memcpy (&points.data[i * points.point_step + 12], &rgb_packed, sizeof (int32_t));
}
else {
memcpy (&points.data[i * points.point_step + 12], &bad_point, sizeof (float));
}
}
}
}
else {
ROS_WARN("Could not fill color channel of the point cloud, unrecognized encoding '%s'", encoding.c_str());
}
}
int brightness(int pic[][][], int i, int j,int len1,int len2){
if(!isValidPoint(pic,i,j,len1,len2)) return 0;
return pic[i][j][0]+pic[i][j][1]+pic[i][j][2];
}
void StereoProcessor::processPoints(const stereo_msgs::DisparityImage& disparity,
const cv::Mat& color, const std::string& encoding,
const image_geometry::StereoCameraModel& model,
sensor_msgs::PointCloud& points) const
{
// Calculate dense point cloud
const sensor_msgs::Image& dimage = disparity.image;
const cv::Mat_<float> dmat(dimage.height, dimage.width, (float*)&dimage.data[0], dimage.step);
model.projectDisparityImageTo3d(dmat, dense_points_, true);
// Fill in sparse point cloud message
points.points.resize(0);
points.channels.resize(3);
points.channels[0].name = "rgb";
points.channels[0].values.resize(0);
points.channels[1].name = "u";
points.channels[1].values.resize(0);
points.channels[2].name = "v";
points.channels[2].values.resize(0);
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v) {
if (isValidPoint(dense_points_(u,v))) {
// x,y,z
geometry_msgs::Point32 pt;
pt.x = dense_points_(u,v)[0];
pt.y = dense_points_(u,v)[1];
pt.z = dense_points_(u,v)[2];
points.points.push_back(pt);
// u,v
points.channels[1].values.push_back(u);
points.channels[2].values.push_back(v);
}
}
}
// Fill in color
namespace enc = sensor_msgs::image_encodings;
points.channels[0].values.reserve(points.points.size());
if (encoding == enc::MONO8) {
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v) {
if (isValidPoint(dense_points_(u,v))) {
uint8_t g = color.at<uint8_t>(u,v);
int32_t rgb = (g << 16) | (g << 8) | g;
points.channels[0].values.push_back(*(float*)(&rgb));
}
}
}
}
else if (encoding == enc::RGB8) {
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v) {
if (isValidPoint(dense_points_(u,v))) {
const cv::Vec3b& rgb = color.at<cv::Vec3b>(u,v);
int32_t rgb_packed = (rgb[0] << 16) | (rgb[1] << 8) | rgb[2];
points.channels[0].values.push_back(*(float*)(&rgb_packed));
}
}
}
}
else if (encoding == enc::BGR8) {
for (int32_t u = 0; u < dense_points_.rows; ++u) {
for (int32_t v = 0; v < dense_points_.cols; ++v) {
if (isValidPoint(dense_points_(u,v))) {
const cv::Vec3b& bgr = color.at<cv::Vec3b>(u,v);
int32_t rgb_packed = (bgr[2] << 16) | (bgr[1] << 8) | bgr[0];
points.channels[0].values.push_back(*(float*)(&rgb_packed));
}
}
}
}
else {
ROS_WARN("Could not fill color channel of the point cloud, unrecognized encoding '%s'", encoding.c_str());
}
}