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sensor_orientation_ not set to identity #176

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779c9a0
Removed sensor_orientation_/sensor_origin_ setting
nfioraio Jul 8, 2013
97c5c1c
Merge branch 'master' of https://github.com/PointCloudLibrary/pcl
nfioraio Jul 8, 2013
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48 changes: 24 additions & 24 deletions io/include/pcl/io/impl/lzf_image_io.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -94,24 +94,24 @@ pcl::io::LZFDepth16ImageReader::read (
}

pt.z = static_cast<float> (val * z_multiplication_factor_);
pt.x = (static_cast<float> (u) - static_cast<float> (parameters_.principal_point_x))
pt.x = (static_cast<float> (u) - static_cast<float> (parameters_.principal_point_x))
* pt.z * static_cast<float> (constant_x);
pt.y = (static_cast<float> (v) - static_cast<float> (parameters_.principal_point_y))
pt.y = (static_cast<float> (v) - static_cast<float> (parameters_.principal_point_y))
* pt.z * static_cast<float> (constant_y);
}
}
cloud.sensor_origin_.setZero ();
cloud.sensor_orientation_.w () = 0.0f;
cloud.sensor_orientation_.x () = 1.0f;
cloud.sensor_orientation_.y () = 0.0f;
cloud.sensor_orientation_.z () = 0.0f;
// cloud.sensor_origin_.setZero ();
// cloud.sensor_orientation_.w () = 0.0f;
// cloud.sensor_orientation_.x () = 1.0f;
// cloud.sensor_orientation_.y () = 0.0f;
// cloud.sensor_orientation_.z () = 0.0f;
return (true);
}

///////////////////////////////////////////////////////////////////////////////
template <typename PointT> bool
pcl::io::LZFDepth16ImageReader::readOMP (const std::string &filename,
pcl::PointCloud<PointT> &cloud,
pcl::io::LZFDepth16ImageReader::readOMP (const std::string &filename,
pcl::PointCloud<PointT> &cloud,
unsigned int num_threads)
{
uint32_t uncompressed_size;
Expand Down Expand Up @@ -172,17 +172,17 @@ pcl::io::LZFDepth16ImageReader::readOMP (const std::string &filename,
}

pt.z = static_cast<float> (val * z_multiplication_factor_);
pt.x = (static_cast<float> (u) - static_cast<float> (parameters_.principal_point_x))
pt.x = (static_cast<float> (u) - static_cast<float> (parameters_.principal_point_x))
* pt.z * static_cast<float> (constant_x);
pt.y = (static_cast<float> (v) - static_cast<float> (parameters_.principal_point_y))
pt.y = (static_cast<float> (v) - static_cast<float> (parameters_.principal_point_y))
* pt.z * static_cast<float> (constant_y);

}
cloud.sensor_origin_.setZero ();
cloud.sensor_orientation_.w () = 0.0f;
cloud.sensor_orientation_.x () = 1.0f;
cloud.sensor_orientation_.y () = 0.0f;
cloud.sensor_orientation_.z () = 0.0f;
// cloud.sensor_origin_.setZero ();
// cloud.sensor_orientation_.w () = 0.0f;
// cloud.sensor_orientation_.x () = 1.0f;
// cloud.sensor_orientation_.y () = 0.0f;
// cloud.sensor_orientation_.z () = 0.0f;
return (true);

}
Expand Down Expand Up @@ -324,7 +324,7 @@ pcl::io::LZFYUV422ImageReader::read (
unsigned char *color_u = reinterpret_cast<unsigned char*> (&uncompressed_data[0]);
unsigned char *color_y = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2]);
unsigned char *color_v = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2 + getWidth () * getHeight ()]);

register int y_idx = 0;
for (size_t i = 0; i < wh2; ++i, y_idx += 2)
{
Expand Down Expand Up @@ -382,7 +382,7 @@ pcl::io::LZFYUV422ImageReader::readOMP (
unsigned char *color_u = reinterpret_cast<unsigned char*> (&uncompressed_data[0]);
unsigned char *color_y = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2]);
unsigned char *color_v = reinterpret_cast<unsigned char*> (&uncompressed_data[wh2 + getWidth () * getHeight ()]);

#ifdef _OPENMP
#pragma omp parallel for num_threads (num_threads)
#endif//_OPENMP
Expand Down Expand Up @@ -437,8 +437,8 @@ pcl::io::LZFBayer8ImageReader::read (
// Convert Bayer8 to RGB24
std::vector<unsigned char> rgb_buffer (getWidth () * getHeight () * 3);
pcl::io::DeBayer i;
i.debayerEdgeAware (reinterpret_cast<unsigned char*> (&uncompressed_data[0]),
static_cast<unsigned char*> (&rgb_buffer[0]),
i.debayerEdgeAware (reinterpret_cast<unsigned char*> (&uncompressed_data[0]),
static_cast<unsigned char*> (&rgb_buffer[0]),
getWidth (), getHeight ());
// Copy to PointT
cloud.width = getWidth ();
Expand Down Expand Up @@ -487,8 +487,8 @@ pcl::io::LZFBayer8ImageReader::readOMP (
// Convert Bayer8 to RGB24
std::vector<unsigned char> rgb_buffer (getWidth () * getHeight () * 3);
pcl::io::DeBayer i;
i.debayerEdgeAware (reinterpret_cast<unsigned char*> (&uncompressed_data[0]),
static_cast<unsigned char*> (&rgb_buffer[0]),
i.debayerEdgeAware (reinterpret_cast<unsigned char*> (&uncompressed_data[0]),
static_cast<unsigned char*> (&rgb_buffer[0]),
getWidth (), getHeight ());
// Copy to PointT
cloud.width = getWidth ();
Expand Down
58 changes: 29 additions & 29 deletions io/src/openni_grabber.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ pcl::OpenNIGrabber::~OpenNIGrabber () throw ()

// release the pointer to the device object
device_.reset ();

// disconnect all listeners
disconnect_all_slots<sig_cb_openni_image> ();
disconnect_all_slots<sig_cb_openni_depth_image> ();
Expand Down Expand Up @@ -402,7 +402,7 @@ pcl::OpenNIGrabber::setupDevice (const std::string& device_id, const Mode& depth

depth_width_ = depth_md.nXRes;
depth_height_ = depth_md.nYRes;

if (device_->hasImageStream ())
{
XnMapOutputMode image_md;
Expand Down Expand Up @@ -563,10 +563,10 @@ pcl::OpenNIGrabber::convertToXYZPointCloud (const boost::shared_ptr<openni_wrapp

if (pcl_isfinite (depth_focal_length_y_))
constant_y = 1.0f / static_cast<float> (depth_focal_length_y_);

if (pcl_isfinite (depth_principal_point_x_))
centerX = static_cast<float> (depth_principal_point_x_);

if (pcl_isfinite (depth_principal_point_y_))
centerY = static_cast<float> (depth_principal_point_y_);

Expand Down Expand Up @@ -614,11 +614,11 @@ pcl::OpenNIGrabber::convertToXYZPointCloud (const boost::shared_ptr<openni_wrapp
pt.y = (static_cast<float> (v) - centerY) * pt.z * constant_y;
}
}
cloud->sensor_origin_.setZero ();
cloud->sensor_orientation_.w () = 0.0f;
cloud->sensor_orientation_.x () = 1.0f;
cloud->sensor_orientation_.y () = 0.0f;
cloud->sensor_orientation_.z () = 0.0f;
// cloud->sensor_origin_.setZero ();
// cloud->sensor_orientation_.w () = 0.0f;
// cloud->sensor_orientation_.x () = 1.0f;
// cloud->sensor_orientation_.y () = 0.0f;
// cloud->sensor_orientation_.z () = 0.0f;
return (cloud);
}

Expand Down Expand Up @@ -651,10 +651,10 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wr

if (pcl_isfinite (rgb_focal_length_y_))
constant_y = 1.0f / static_cast<float> (rgb_focal_length_y_);

if (pcl_isfinite (rgb_principal_point_x_))
centerX = static_cast<float> (rgb_principal_point_x_);

if (pcl_isfinite (rgb_principal_point_y_))
centerY = static_cast<float> (rgb_principal_point_y_);

Expand Down Expand Up @@ -684,20 +684,20 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wr
image->fillRGB (image_width_, image_height_, rgb_buffer, image_width_ * 3);
float bad_point = std::numeric_limits<float>::quiet_NaN ();

// set xyz to Nan and rgb to 0 (black)
// set xyz to Nan and rgb to 0 (black)
if (image_width_ != depth_width_)
{
PointT pt;
pt.x = pt.y = pt.z = bad_point;
pt.b = pt.g = pt.r = 0;
pt.a = 255; // point has no color info -> alpha = max => transparent
pt.a = 255; // point has no color info -> alpha = max => transparent
cloud->points.assign (cloud->points.size (), pt);
}

// fill in XYZ values
unsigned step = cloud->width / depth_width_;
unsigned skip = cloud->width * step - cloud->width;

int value_idx = 0;
int point_idx = 0;
for (int v = 0; v < depth_height_; ++v, point_idx += skip)
Expand Down Expand Up @@ -726,7 +726,7 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wr
// fill in the RGB values
step = cloud->width / image_width_;
skip = cloud->width * step - cloud->width;

value_idx = 0;
point_idx = 0;
RGBValue color;
Expand All @@ -737,19 +737,19 @@ pcl::OpenNIGrabber::convertToXYZRGBPointCloud (const boost::shared_ptr<openni_wr
for (unsigned xIdx = 0; xIdx < image_width_; ++xIdx, point_idx += step, value_idx += 3)
{
PointT& pt = cloud->points[point_idx];

color.Red = rgb_buffer[value_idx];
color.Green = rgb_buffer[value_idx + 1];
color.Blue = rgb_buffer[value_idx + 2];

pt.rgba = color.long_value;
}
}
cloud->sensor_origin_.setZero ();
cloud->sensor_orientation_.w () = 0.0;
cloud->sensor_orientation_.x () = 1.0;
cloud->sensor_orientation_.y () = 0.0;
cloud->sensor_orientation_.z () = 0.0;
// cloud->sensor_origin_.setZero ();
// cloud->sensor_orientation_.w () = 0.0;
// cloud->sensor_orientation_.x () = 1.0;
// cloud->sensor_orientation_.y () = 0.0;
// cloud->sensor_orientation_.z () = 0.0;
return (cloud);
}

Expand Down Expand Up @@ -781,7 +781,7 @@ pcl::OpenNIGrabber::convertToXYZIPointCloud (const boost::shared_ptr<openni_wrap

if (pcl_isfinite (rgb_principal_point_x_))
centerX = static_cast<float>(rgb_principal_point_x_);

if (pcl_isfinite (rgb_principal_point_y_))
centerY = static_cast<float>(rgb_principal_point_y_);

Expand Down Expand Up @@ -835,11 +835,11 @@ pcl::OpenNIGrabber::convertToXYZIPointCloud (const boost::shared_ptr<openni_wrap
pt.intensity = static_cast<float> (ir_map[depth_idx]);
}
}
cloud->sensor_origin_.setZero ();
cloud->sensor_orientation_.w () = 0.0;
cloud->sensor_orientation_.x () = 1.0;
cloud->sensor_orientation_.y () = 0.0;
cloud->sensor_orientation_.z () = 0.0;
// cloud->sensor_origin_.setZero ();
// cloud->sensor_orientation_.w () = 0.0;
// cloud->sensor_orientation_.x () = 1.0;
// cloud->sensor_orientation_.y () = 0.0;
// cloud->sensor_orientation_.z () = 0.0;
return (cloud);
}

Expand Down