void CalibrationDialog::restart()
{
// restart
savedCalibration_ = false;
imagePoints_[0].clear();
imagePoints_[1].clear();
imageParams_[0].clear();
imageParams_[1].clear();
stereoImagePoints_[0].clear();
stereoImagePoints_[1].clear();
models_[0] = CameraModel();
models_[1] = CameraModel();
stereoModel_ = StereoCameraModel();
cameraName_.clear();
minIrs_[0] = 0x0000;
maxIrs_[0] = 0x7fff;
minIrs_[1] = 0x0000;
maxIrs_[1] = 0x7fff;
ui_->pushButton_calibrate->setEnabled(false);
ui_->pushButton_save->setEnabled(false);
ui_->radioButton_raw->setChecked(true);
ui_->radioButton_rectified->setEnabled(false);
ui_->radioButton_stereoRectified->setEnabled(false);
ui_->progressBar_count->reset();
ui_->progressBar_count->setMaximum(COUNT_MIN);
ui_->progressBar_x->reset();
ui_->progressBar_y->reset();
ui_->progressBar_size->reset();
ui_->progressBar_skew->reset();
ui_->progressBar_count_2->reset();
ui_->progressBar_count_2->setMaximum(COUNT_MIN);
ui_->progressBar_x_2->reset();
ui_->progressBar_y_2->reset();
ui_->progressBar_size_2->reset();
ui_->progressBar_skew_2->reset();
ui_->label_serial->clear();
ui_->label_fx->setNum(0);
ui_->label_fy->setNum(0);
ui_->label_cx->setNum(0);
ui_->label_cy->setNum(0);
ui_->label_baseline->setNum(0);
ui_->label_error->setNum(0);
ui_->lineEdit_K->clear();
ui_->lineEdit_D->clear();
ui_->lineEdit_R->clear();
ui_->lineEdit_P->clear();
ui_->label_fx_2->setNum(0);
ui_->label_fy_2->setNum(0);
ui_->label_cx_2->setNum(0);
ui_->label_cy_2->setNum(0);
ui_->lineEdit_K_2->clear();
ui_->lineEdit_D_2->clear();
ui_->lineEdit_R_2->clear();
ui_->lineEdit_P_2->clear();
}
void CameraThread::mainLoop()
{
UTimer timer;
UDEBUG("");
SensorData data = _camera->takeImage();
if(!data.imageRaw().empty())
{
if(_colorOnly && !data.depthRaw().empty())
{
data.setDepthOrRightRaw(cv::Mat());
}
if(_mirroring && data.cameraModels().size() == 1)
{
cv::Mat tmpRgb;
cv::flip(data.imageRaw(), tmpRgb, 1);
data.setImageRaw(tmpRgb);
if(data.cameraModels()[0].cx())
{
CameraModel tmpModel(
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy(),
float(data.imageRaw().cols) - data.cameraModels()[0].cx(),
data.cameraModels()[0].cy(),
data.cameraModels()[0].localTransform());
data.setCameraModel(tmpModel);
}
if(!data.depthRaw().empty())
{
cv::Mat tmpDepth;
cv::flip(data.depthRaw(), tmpDepth, 1);
data.setDepthOrRightRaw(tmpDepth);
}
}
if(_stereoToDepth && data.stereoCameraModel().isValid() && !data.rightRaw().empty())
{
cv::Mat depth = util2d::depthFromDisparity(
util2d::disparityFromStereoImages(data.imageRaw(), data.rightRaw()),
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().baseline());
data.setCameraModel(data.stereoCameraModel().left());
data.setDepthOrRightRaw(depth);
data.setStereoCameraModel(StereoCameraModel());
}
this->post(new CameraEvent(data, _camera->getSerial()));
}
else if(!this->isKilled())
{
UWARN("no more images...");
this->kill();
this->post(new CameraEvent());
}
}
void CalibrationDialog::calibrate()
{
processingData_ = true;
savedCalibration_ = false;
QMessageBox mb(QMessageBox::Information,
tr("Calibrating..."),
tr("Operation in progress..."));
mb.show();
QApplication::processEvents();
uSleep(100); // hack make sure the text in the QMessageBox is shown...
QApplication::processEvents();
std::vector<std::vector<cv::Point3f> > objectPoints(1);
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
float squareSize = ui_->doubleSpinBox_squareSize->value();
// compute board corner positions
for( int i = 0; i < boardSize.height; ++i )
for( int j = 0; j < boardSize.width; ++j )
objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
for(int id=0; id<(stereo_?2:1); ++id)
{
UINFO("Calibrating camera %d (samples=%d)", id, (int)imagePoints_[id].size());
objectPoints.resize(imagePoints_[id].size(), objectPoints[0]);
//calibrate
std::vector<cv::Mat> rvecs, tvecs;
std::vector<float> reprojErrs;
cv::Mat K, D;
K = cv::Mat::eye(3,3,CV_64FC1);
UINFO("calibrate!");
//Find intrinsic and extrinsic camera parameters
double rms = cv::calibrateCamera(objectPoints,
imagePoints_[id],
imageSize_[id],
K,
D,
rvecs,
tvecs);
UINFO("Re-projection error reported by calibrateCamera: %f", rms);
// compute reprojection errors
std::vector<cv::Point2f> imagePoints2;
int i, totalPoints = 0;
double totalErr = 0, err;
reprojErrs.resize(objectPoints.size());
for( i = 0; i < (int)objectPoints.size(); ++i )
{
cv::projectPoints( cv::Mat(objectPoints[i]), rvecs[i], tvecs[i], K, D, imagePoints2);
err = cv::norm(cv::Mat(imagePoints_[id][i]), cv::Mat(imagePoints2), CV_L2);
int n = (int)objectPoints[i].size();
reprojErrs[i] = (float) std::sqrt(err*err/n);
totalErr += err*err;
totalPoints += n;
}
double totalAvgErr = std::sqrt(totalErr/totalPoints);
UINFO("avg re projection error = %f", totalAvgErr);
cv::Mat P(3,4,CV_64FC1);
P.at<double>(2,3) = 1;
K.copyTo(P.colRange(0,3).rowRange(0,3));
std::cout << "cameraMatrix = " << K << std::endl;
std::cout << "distCoeffs = " << D << std::endl;
std::cout << "width = " << imageSize_[id].width << std::endl;
std::cout << "height = " << imageSize_[id].height << std::endl;
models_[id] = CameraModel(cameraName_.toStdString(), imageSize_[id], K, D, cv::Mat::eye(3,3,CV_64FC1), P);
if(id == 0)
{
ui_->label_fx->setNum(models_[id].fx());
ui_->label_fy->setNum(models_[id].fy());
ui_->label_cx->setNum(models_[id].cx());
ui_->label_cy->setNum(models_[id].cy());
ui_->label_error->setNum(totalAvgErr);
std::stringstream strK, strD, strR, strP;
strK << models_[id].K();
strD << models_[id].D();
strR << models_[id].R();
strP << models_[id].P();
ui_->lineEdit_K->setText(strK.str().c_str());
ui_->lineEdit_D->setText(strD.str().c_str());
ui_->lineEdit_R->setText(strR.str().c_str());
ui_->lineEdit_P->setText(strP.str().c_str());
}
else
{
ui_->label_fx_2->setNum(models_[id].fx());
ui_->label_fy_2->setNum(models_[id].fy());
ui_->label_cx_2->setNum(models_[id].cx());
ui_->label_cy_2->setNum(models_[id].cy());
ui_->label_error_2->setNum(totalAvgErr);
std::stringstream strK, strD, strR, strP;
strK << models_[id].K();
strD << models_[id].D();
strR << models_[id].R();
strP << models_[id].P();
ui_->lineEdit_K_2->setText(strK.str().c_str());
ui_->lineEdit_D_2->setText(strD.str().c_str());
ui_->lineEdit_R_2->setText(strR.str().c_str());
ui_->lineEdit_P_2->setText(strP.str().c_str());
}
}
if(stereo_ && models_[0].isValid() && models_[1].isValid())
{
UINFO("stereo calibration (samples=%d)...", (int)stereoImagePoints_[0].size());
cv::Size imageSize = imageSize_[0].width > imageSize_[1].width?imageSize_[0]:imageSize_[1];
cv::Mat R, T, E, F;
std::vector<std::vector<cv::Point3f> > objectPoints(1);
cv::Size boardSize(ui_->spinBox_boardWidth->value(), ui_->spinBox_boardHeight->value());
float squareSize = ui_->doubleSpinBox_squareSize->value();
// compute board corner positions
for( int i = 0; i < boardSize.height; ++i )
for( int j = 0; j < boardSize.width; ++j )
objectPoints[0].push_back(cv::Point3f(float( j*squareSize ), float( i*squareSize ), 0));
objectPoints.resize(stereoImagePoints_[0].size(), objectPoints[0]);
// calibrate extrinsic
#if CV_MAJOR_VERSION < 3
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5),
cv::CALIB_FIX_INTRINSIC);
#else
double rms = cv::stereoCalibrate(
objectPoints,
stereoImagePoints_[0],
stereoImagePoints_[1],
models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, E, F,
cv::CALIB_FIX_INTRINSIC,
cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 100, 1e-5));
#endif
UINFO("stereo calibration... done with RMS error=%f", rms);
double err = 0;
int npoints = 0;
std::vector<cv::Vec3f> lines[2];
UINFO("Computing avg re-projection error...");
for(unsigned int i = 0; i < stereoImagePoints_[0].size(); i++ )
{
int npt = (int)stereoImagePoints_[0][i].size();
cv::Mat imgpt[2];
for(int k = 0; k < 2; k++ )
{
imgpt[k] = cv::Mat(stereoImagePoints_[k][i]);
cv::undistortPoints(imgpt[k], imgpt[k], models_[k].K(), models_[k].D(), cv::Mat(), models_[k].K());
computeCorrespondEpilines(imgpt[k], k+1, F, lines[k]);
}
for(int j = 0; j < npt; j++ )
{
double errij = fabs(stereoImagePoints_[0][i][j].x*lines[1][j][0] +
stereoImagePoints_[0][i][j].y*lines[1][j][1] + lines[1][j][2]) +
fabs(stereoImagePoints_[1][i][j].x*lines[0][j][0] +
stereoImagePoints_[1][i][j].y*lines[0][j][1] + lines[0][j][2]);
err += errij;
}
npoints += npt;
}
double totalAvgErr = err/(double)npoints;
UINFO("stereo avg re projection error = %f", totalAvgErr);
cv::Mat R1, R2, P1, P2, Q;
cv::Rect validRoi[2];
cv::stereoRectify(models_[0].K(), models_[0].D(),
models_[1].K(), models_[1].D(),
imageSize, R, T, R1, R2, P1, P2, Q,
cv::CALIB_ZERO_DISPARITY, 0, imageSize, &validRoi[0], &validRoi[1]);
UINFO("Valid ROI1 = %d,%d,%d,%d ROI2 = %d,%d,%d,%d newImageSize=%d/%d",
validRoi[0].x, validRoi[0].y, validRoi[0].width, validRoi[0].height,
validRoi[1].x, validRoi[1].y, validRoi[1].width, validRoi[1].height,
imageSize.width, imageSize.height);
if(imageSize_[0].width == imageSize_[1].width)
{
//Stereo, keep new extrinsic projection matrix
stereoModel_ = StereoCameraModel(
cameraName_.toStdString(),
imageSize_[0], models_[0].K(), models_[0].D(), R1, P1,
imageSize_[1], models_[1].K(), models_[1].D(), R2, P2,
R, T, E, F);
}
else
{
//Kinect
stereoModel_ = StereoCameraModel(
cameraName_.toStdString(),
imageSize_[0], models_[0].K(), models_[0].D(), cv::Mat::eye(3,3,CV_64FC1), models_[0].P(),
imageSize_[1], models_[1].K(), models_[1].D(), cv::Mat::eye(3,3,CV_64FC1), models_[1].P(),
R, T, E, F);
}
std::stringstream strR1, strP1, strR2, strP2;
strR1 << stereoModel_.left().R();
strP1 << stereoModel_.left().P();
strR2 << stereoModel_.right().R();
strP2 << stereoModel_.right().P();
ui_->lineEdit_R->setText(strR1.str().c_str());
ui_->lineEdit_P->setText(strP1.str().c_str());
ui_->lineEdit_R_2->setText(strR2.str().c_str());
ui_->lineEdit_P_2->setText(strP2.str().c_str());
ui_->label_baseline->setNum(stereoModel_.baseline());
//ui_->label_error_stereo->setNum(totalAvgErr);
}
if(stereo_ &&
stereoModel_.left().isValid() &&
stereoModel_.right().isValid()&&
(!ui_->label_baseline->isVisible() || stereoModel_.baseline() > 0.0))
{
ui_->radioButton_rectified->setEnabled(true);
ui_->radioButton_stereoRectified->setEnabled(true);
ui_->radioButton_stereoRectified->setChecked(true);
ui_->pushButton_save->setEnabled(true);
}
else if(models_[0].isValid())
{
ui_->radioButton_rectified->setEnabled(true);
ui_->radioButton_rectified->setChecked(true);
ui_->pushButton_save->setEnabled(!stereo_);
}
UINFO("End calibration");
processingData_ = false;
}
void CameraThread::mainLoop()
{
UDEBUG("");
CameraInfo info;
SensorData data = _camera->takeImage(&info);
if(!data.imageRaw().empty())
{
if(_colorOnly && !data.depthRaw().empty())
{
data.setDepthOrRightRaw(cv::Mat());
}
if(_imageDecimation>1 && !data.imageRaw().empty())
{
UDEBUG("");
UTimer timer;
if(!data.depthRaw().empty() &&
!(data.depthRaw().rows % _imageDecimation == 0 && data.depthRaw().cols % _imageDecimation == 0))
{
UERROR("Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
"Images won't be resized.", _imageDecimation, data.depthRaw().cols, data.depthRaw().rows);
}
else
{
data.setImageRaw(util2d::decimate(data.imageRaw(), _imageDecimation));
data.setDepthOrRightRaw(util2d::decimate(data.depthOrRightRaw(), _imageDecimation));
std::vector<CameraModel> models = data.cameraModels();
for(unsigned int i=0; i<models.size(); ++i)
{
if(models[i].isValidForProjection())
{
models[i] = models[i].scaled(1.0/double(_imageDecimation));
}
}
data.setCameraModels(models);
StereoCameraModel stereoModel = data.stereoCameraModel();
if(stereoModel.isValidForProjection())
{
stereoModel.scale(1.0/double(_imageDecimation));
data.setStereoCameraModel(stereoModel);
}
}
info.timeImageDecimation = timer.ticks();
}
if(_mirroring && data.cameraModels().size() == 1)
{
UDEBUG("");
UTimer timer;
cv::Mat tmpRgb;
cv::flip(data.imageRaw(), tmpRgb, 1);
data.setImageRaw(tmpRgb);
UASSERT_MSG(data.cameraModels().size() <= 1 && !data.stereoCameraModel().isValidForProjection(), "Only single RGBD cameras are supported for mirroring.");
if(data.cameraModels().size() && data.cameraModels()[0].cx())
{
CameraModel tmpModel(
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy(),
float(data.imageRaw().cols) - data.cameraModels()[0].cx(),
data.cameraModels()[0].cy(),
data.cameraModels()[0].localTransform());
data.setCameraModel(tmpModel);
}
if(!data.depthRaw().empty())
{
cv::Mat tmpDepth;
cv::flip(data.depthRaw(), tmpDepth, 1);
data.setDepthOrRightRaw(tmpDepth);
}
info.timeMirroring = timer.ticks();
}
if(_stereoToDepth && data.stereoCameraModel().isValidForProjection() && !data.rightRaw().empty())
{
UDEBUG("");
UTimer timer;
cv::Mat depth = util2d::depthFromDisparity(
_stereoDense->computeDisparity(data.imageRaw(), data.rightRaw()),
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().baseline());
data.setCameraModel(data.stereoCameraModel().left());
data.setDepthOrRightRaw(depth);
data.setStereoCameraModel(StereoCameraModel());
info.timeDisparity = timer.ticks();
UDEBUG("Computing disparity = %f s", info.timeDisparity);
}
if(_scanFromDepth &&
data.cameraModels().size() &&
data.cameraModels().at(0).isValidForProjection() &&
!data.depthRaw().empty())
{
UDEBUG("");
if(data.laserScanRaw().empty())
{
UASSERT(_scanDecimation >= 1);
UTimer timer;
pcl::IndicesPtr validIndices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(data, _scanDecimation, _scanMaxDepth, _scanMinDepth, validIndices.get());
float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
if(_scanVoxelSize>0.0f)
{
cloud = util3d::voxelize(cloud, validIndices, _scanVoxelSize);
float ratio = float(cloud->size()) / float(validIndices->size());
maxPoints = ratio * maxPoints;
}
else if(!cloud->is_dense)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *validIndices, *denseCloud);
cloud = denseCloud;
}
cv::Mat scan;
if(_scanNormalsK>0)
{
scan = util3d::laserScanFromPointCloud(*util3d::computeNormals(cloud, _scanNormalsK));
}
else
{
scan = util3d::laserScanFromPointCloud(*cloud);
}
data.setLaserScanRaw(scan, (int)maxPoints, _scanMaxDepth);
info.timeScanFromDepth = timer.ticks();
UDEBUG("Computing scan from depth = %f s", info.timeScanFromDepth);
}
else
{
UWARN("Option to create laser scan from depth image is enabled, but "
"there is already a laser scan in the captured sensor data. Scan from "
"depth will not be created.");
}
}
info.cameraName = _camera->getSerial();
this->post(new CameraEvent(data, info));
}
else if(!this->isKilled())
{
UWARN("no more images...");
this->kill();
this->post(new CameraEvent());
}
}
void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
{
UASSERT(dataPtr!=0);
SensorData & data = *dataPtr;
if(_colorOnly && !data.depthRaw().empty())
{
data.setDepthOrRightRaw(cv::Mat());
}
if(_distortionModel && !data.depthRaw().empty())
{
UTimer timer;
if(_distortionModel->getWidth() == data.depthRaw().cols &&
_distortionModel->getHeight() == data.depthRaw().rows )
{
cv::Mat depth = data.depthRaw().clone();// make sure we are not modifying data in cached signatures.
_distortionModel->undistort(depth);
data.setDepthOrRightRaw(depth);
}
else
{
UERROR("Distortion model size is %dx%d but dpeth image is %dx%d!",
_distortionModel->getWidth(), _distortionModel->getHeight(),
data.depthRaw().cols, data.depthRaw().rows);
}
if(info) info->timeUndistortDepth = timer.ticks();
}
if(_bilateralFiltering && !data.depthRaw().empty())
{
UTimer timer;
data.setDepthOrRightRaw(util2d::fastBilateralFiltering(data.depthRaw(), _bilateralSigmaS, _bilateralSigmaR));
if(info) info->timeBilateralFiltering = timer.ticks();
}
if(_imageDecimation>1 && !data.imageRaw().empty())
{
UDEBUG("");
UTimer timer;
if(!data.depthRaw().empty() &&
!(data.depthRaw().rows % _imageDecimation == 0 && data.depthRaw().cols % _imageDecimation == 0))
{
UERROR("Decimation of depth images should be exact (decimation=%d, size=(%d,%d))! "
"Images won't be resized.", _imageDecimation, data.depthRaw().cols, data.depthRaw().rows);
}
else
{
data.setImageRaw(util2d::decimate(data.imageRaw(), _imageDecimation));
data.setDepthOrRightRaw(util2d::decimate(data.depthOrRightRaw(), _imageDecimation));
std::vector<CameraModel> models = data.cameraModels();
for(unsigned int i=0; i<models.size(); ++i)
{
if(models[i].isValidForProjection())
{
models[i] = models[i].scaled(1.0/double(_imageDecimation));
}
}
data.setCameraModels(models);
StereoCameraModel stereoModel = data.stereoCameraModel();
if(stereoModel.isValidForProjection())
{
stereoModel.scale(1.0/double(_imageDecimation));
data.setStereoCameraModel(stereoModel);
}
}
if(info) info->timeImageDecimation = timer.ticks();
}
if(_mirroring && !data.imageRaw().empty() && data.cameraModels().size() == 1)
{
UDEBUG("");
UTimer timer;
cv::Mat tmpRgb;
cv::flip(data.imageRaw(), tmpRgb, 1);
data.setImageRaw(tmpRgb);
UASSERT_MSG(data.cameraModels().size() <= 1 && !data.stereoCameraModel().isValidForProjection(), "Only single RGBD cameras are supported for mirroring.");
if(data.cameraModels().size() && data.cameraModels()[0].cx())
{
CameraModel tmpModel(
data.cameraModels()[0].fx(),
data.cameraModels()[0].fy(),
float(data.imageRaw().cols) - data.cameraModels()[0].cx(),
data.cameraModels()[0].cy(),
data.cameraModels()[0].localTransform());
data.setCameraModel(tmpModel);
}
if(!data.depthRaw().empty())
{
cv::Mat tmpDepth;
cv::flip(data.depthRaw(), tmpDepth, 1);
data.setDepthOrRightRaw(tmpDepth);
}
if(info) info->timeMirroring = timer.ticks();
}
if(_stereoToDepth && !data.imageRaw().empty() && data.stereoCameraModel().isValidForProjection() && !data.rightRaw().empty())
{
UDEBUG("");
UTimer timer;
cv::Mat depth = util2d::depthFromDisparity(
_stereoDense->computeDisparity(data.imageRaw(), data.rightRaw()),
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().baseline());
// set Tx for stereo bundle adjustment (when used)
CameraModel model = CameraModel(
data.stereoCameraModel().left().fx(),
data.stereoCameraModel().left().fy(),
data.stereoCameraModel().left().cx(),
data.stereoCameraModel().left().cy(),
data.stereoCameraModel().localTransform(),
-data.stereoCameraModel().baseline()*data.stereoCameraModel().left().fx());
data.setCameraModel(model);
data.setDepthOrRightRaw(depth);
data.setStereoCameraModel(StereoCameraModel());
if(info) info->timeDisparity = timer.ticks();
}
if(_scanFromDepth &&
data.cameraModels().size() &&
data.cameraModels().at(0).isValidForProjection() &&
!data.depthRaw().empty())
{
UDEBUG("");
if(data.laserScanRaw().empty())
{
UASSERT(_scanDecimation >= 1);
UTimer timer;
pcl::IndicesPtr validIndices(new std::vector<int>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud = util3d::cloudFromSensorData(
data,
_scanDecimation,
_scanMaxDepth,
_scanMinDepth,
validIndices.get());
float maxPoints = (data.depthRaw().rows/_scanDecimation)*(data.depthRaw().cols/_scanDecimation);
cv::Mat scan;
const Transform & baseToScan = data.cameraModels()[0].localTransform();
if(validIndices->size())
{
if(_scanVoxelSize>0.0f)
{
cloud = util3d::voxelize(cloud, validIndices, _scanVoxelSize);
float ratio = float(cloud->size()) / float(validIndices->size());
maxPoints = ratio * maxPoints;
}
else if(!cloud->is_dense)
{
pcl::PointCloud<pcl::PointXYZ>::Ptr denseCloud(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud, *validIndices, *denseCloud);
cloud = denseCloud;
}
if(cloud->size())
{
if(_scanNormalsK>0)
{
Eigen::Vector3f viewPoint(baseToScan.x(), baseToScan.y(), baseToScan.z());
pcl::PointCloud<pcl::Normal>::Ptr normals = util3d::computeNormals(cloud, _scanNormalsK, viewPoint);
pcl::PointCloud<pcl::PointNormal>::Ptr cloudNormals(new pcl::PointCloud<pcl::PointNormal>);
pcl::concatenateFields(*cloud, *normals, *cloudNormals);
scan = util3d::laserScanFromPointCloud(*cloudNormals, baseToScan.inverse());
}
else
{
scan = util3d::laserScanFromPointCloud(*cloud, baseToScan.inverse());
}
}
}
data.setLaserScanRaw(scan, LaserScanInfo((int)maxPoints, _scanMaxDepth, baseToScan));
if(info) info->timeScanFromDepth = timer.ticks();
}
else
{
UWARN("Option to create laser scan from depth image is enabled, but "
"there is already a laser scan in the captured sensor data. Scan from "
"depth will not be created.");
}
}
}
