LaserConfig::LaserConfig() {
setLaserType(UMKNOWN_PROXIMITY_SENSOR);
setStartAngle(-0.5*M_PI);
setFOV(M_PI);
setAngularResolution(carmen_degrees_to_radians(1.0));
setMaximumRange(81.9);
setAccuracy(0.01);
setRemissionMode(REMISSION_NONE);
}
void
RangeImagePlanar::setDisparityImage (const float* disparity_image, int di_width, int di_height,
float focal_length, float base_line, float desired_angular_resolution)
{
//MEASURE_FUNCTION_TIME;
reset ();
float original_angular_resolution = atanf (0.5f * static_cast<float> (di_width) / static_cast<float> (focal_length)) / (0.5f * static_cast<float> (di_width));
int skip = 1;
if (desired_angular_resolution >= 2.0f*original_angular_resolution)
skip = static_cast<int> (pcl_lrint (floor (desired_angular_resolution / original_angular_resolution)));
setAngularResolution (original_angular_resolution * static_cast<float> (skip));
width = di_width / skip;
height = di_height / skip;
focal_length_x_ = focal_length_y_ = focal_length / static_cast<float> (skip);
focal_length_x_reciprocal_ = focal_length_y_reciprocal_ = 1.0f / focal_length_x_;
center_x_ = static_cast<float> (di_width) / static_cast<float> (2 * skip);
center_y_ = static_cast<float> (di_height) / static_cast<float> (2 * skip);
points.resize (width*height);
//cout << PVARN (*this);
float normalization_factor = static_cast<float> (skip) * focal_length_x_ * base_line;
for (int y=0; y < static_cast<int> (height); ++y)
{
for (int x=0; x < static_cast<int> (width); ++x)
{
PointWithRange& point = getPointNoCheck (x,y);
float disparity = disparity_image[ (y*skip)*di_width + x*skip];
if (disparity <= 0.0f)
{
//std::cout << disparity << ", "<<std::flush;
point = unobserved_point;
continue;
}
point.z = normalization_factor / disparity;
point.x = (static_cast<float> (x) - center_x_) * point.z * focal_length_x_reciprocal_;
point.y = (static_cast<float> (y) - center_y_) * point.z * focal_length_y_reciprocal_;
point.range = point.getVector3fMap ().norm ();
//cout << point<<std::flush;
//// Just a test:
//PointWithRange test_point1;
//calculate3DPoint (float (x), float (y), point.range, test_point1);
//if ( (point.getVector3fMap ()-test_point1.getVector3fMap ()).norm () > 1e-5)
//cerr << "Something's wrong here...\n";
//float image_x, image_y;
//getImagePoint (point.getVector3fMap (), image_x, image_y);
//if (fabsf (image_x-x)+fabsf (image_y-y)>1e-4)
//cerr << PVARC (x)<<PVARC (y)<<PVARC (image_x)<<PVARN (image_y);
}
}
}
void
RangeImagePlanar::setDepthImage (const unsigned short* depth_image, int di_width, int di_height,
float di_center_x, float di_center_y,
float di_focal_length_x, float di_focal_length_y,
float desired_angular_resolution)
{
//MEASURE_FUNCTION_TIME;
reset ();
float original_angular_resolution = asinf (0.5f*static_cast<float> (di_width)/static_cast<float> (di_focal_length_x)) / (0.5f*static_cast<float> (di_width));
int skip = 1;
if (desired_angular_resolution >= 2.0f*original_angular_resolution)
skip = static_cast<int> (pcl_lrint (floor (desired_angular_resolution/original_angular_resolution)));
setAngularResolution (original_angular_resolution * static_cast<float> (skip));
width = di_width / skip;
height = di_height / skip;
focal_length_x_ = di_focal_length_x / static_cast<float> (skip);
focal_length_x_reciprocal_ = 1.0f / focal_length_x_;
focal_length_y_ = di_focal_length_y / static_cast<float> (skip);
focal_length_y_reciprocal_ = 1.0f / focal_length_y_;
center_x_ = static_cast<float> (di_center_x) / static_cast<float> (skip);
center_y_ = static_cast<float> (di_center_y) / static_cast<float> (skip);
points.resize (width * height);
for (int y = 0; y < static_cast<int> (height); ++y)
{
for (int x = 0; x < static_cast<int> (width); ++x)
{
PointWithRange& point = getPointNoCheck (x, y);
float depth = depth_image[ (y*skip)*di_width + x*skip] * 0.001f;
if (depth <= 0.0f || !pcl_isfinite (depth))
{
point = unobserved_point;
continue;
}
point.z = depth;
point.x = (static_cast<float> (x) - center_x_) * point.z * focal_length_x_reciprocal_;
point.y = (static_cast<float> (y) - center_y_) * point.z * focal_length_y_reciprocal_;
point.range = point.getVector3fMap ().norm ();
}
}
}