class_pinhole_projection.cpp

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#ifndef _CLASS_PINHOLE_PROJECTION_CPP_
#define _CLASS_PINHOLE_PROJECTION_CPP_

#include "class_pinhole_projection.h"




int class_pinhole_projection::set_projection_plane(double a, double b, double c, double d)
{
        projection_plane.a = a;
        projection_plane.b = b;
        projection_plane.c = c;
        projection_plane.d = d;
        return 1;}

int class_pinhole_projection::print_CvMat(cv::Mat *mat, const char* name)
{

        if (name==NULL)
        {
                printf("cvMat has %d cols and %d lines\n", mat->cols, mat->rows);
        }
        else
        {
                printf("%s has %d cols and %d lines\n",name, mat->cols, mat->rows);
        }

        for (int l=0; l<mat->rows; l++)
        {
                printf("[");
                for (int c=0; c<mat->cols; c++)
                {
                        printf("%3.2f ", mat->at<double>(l,c));
                }
                printf("]\n");
        }

        return 1;}

int class_pinhole_projection::project_vertex_to_pixel(const pcl::PointCloud<pcl::PointXYZ>::Ptr v, std::vector<pcl::PointXY>* p)
{
        
        cv::Mat vertexes(4, (int)v->points.size(), CV_64FC1);
        cv::Mat pixels(3, (int)v->points.size(), CV_64FC1);

        
        for (size_t i=0; i < v->points.size(); i++) //set the vertexes homogeneous matrix
        {
                vertexes.at<double>(0,i) = v->points.at(i).x;
                vertexes.at<double>(1,i) = v->points.at(i).y;
                vertexes.at<double>(2,i) = v->points.at(i).z;
                vertexes.at<double>(3,i) = 1;
        }

        
        cv::Mat transformation;
        transformation.create(4,4,CV_64F);
        transformation = intrinsic*extrinsic;

        
        //compute the pixel coordinates
        pixels = transformation*vertexes;

        
        //erase all elements of p
        p->erase(p->begin(), p->end());


        
        for (int i=0; i < pixels.cols; i++) //set output vector
        {
                pcl::PointXY pt;
                pt.x = (pixels.at<double>(0,i) / pixels.at<double>(2,i));
                pt.y = (pixels.at<double>(1,i) / pixels.at<double>(2,i));
                p->push_back(pt);

                //printf("mat 0 = %f, mat 1 = %f mat2 = %f\n",pixels.at<double>(0,i), pixels.at<double>(1,i), pixels.at<double>(2,i));
                //printf("i=%d X=%3.2f Y=%3.2f Z=%3.2f --> pix x=%f y=%f\n",
                                //i,
                                //v->points[i].x,
                                //v->points[i].y,
                                //v->points[i].z,
                                //p->at(i).x,
                                //p->at(i).y    
                          //);



        }

        
        //printf("p->size()=%d\n",(int) p->size());
        //for (int i=1; i<(int)p->size(); i++)
        //{
        //printf("i=%d X=%3.2f Y=%3.2f Z=%3.2f --> pix x=%f y=%f\n",
        //i,
        //v->points[i].x,
        //v->points[i].y,
        //v->points[i].z,
        //p->at(i).x,
        //p->at(i).y    
        //);
        //}


        return 1;}


int class_pinhole_projection::project_pixel_with_color_to_vertex(const pcl::PointCloud<pcl::PointXYZRGB>* p, pcl::PointCloud<pcl::PointXYZRGB>* v)
{
        cv::Mat transformation;
        transformation.create(4,4,CV_64F);
        transformation = intrinsic*extrinsic;

        cv::Mat* M = &transformation;
        int valid_projections=0;

        //set variables to the transformation matrix
        double p11 = M->at<double>(0,0); double p12 = M->at<double>(0,1); double p13 = M->at<double>(0,2); double p14 = M->at<double>(0,3);
        double p21 = M->at<double>(1,0); double p22 = M->at<double>(1,1); double p23 = M->at<double>(1,2); double p24 = M->at<double>(1,3);
        double p31 = M->at<double>(2,0); double p32 = M->at<double>(2,1); double p33 = M->at<double>(2,2); double p34 = M->at<double>(2,3);

        //set references to the plane parameters
        double &A = projection_plane.a; double &B = projection_plane.b; double &C = projection_plane.c; double &D = projection_plane.d;

        //compute constants
        double K1 = (C*p12*p34+p13*D*p32-p12*p33*D-p32*C*p14-p13*B*p34+p33*B*p14);
        double K2 = (p32*C*p24-p34*C*p22-p33*B*p24-p32*p23*D+p33*D*p22+p34*p23*B);
        double K3 = (-p13*D*p22+C*p14*p22-C*p12*p24+p12*p23*D-p14*p23*B+p13*B*p24);
        double K4 = (C*p31*p12+p11*p33*B+p13*A*p32-C*p11*p32-p33*A*p12-p31*p13*B);
        double K5 = (C*p21*p32+p31*p23*B+p33*A*p22-C*p31*p22-p23*A*p32-p21*p33*B);
        double K6 = (-C*p21*p12-p11*p23*B+C*p11*p22+p23*A*p12+p21*p13*B-p13*A*p22);
        double K7 = (p11*p34*C-p13*A*p34-p11*p33*D+p33*A*p14+p31*p13*D-p31*C*p14);
        double K8 = (-p33*A*p24-p31*p23*D+p23*A*p34+p21*p33*D-C*p21*p34+C*p31*p24);
        double K9 = (C*p21*p14+p13*A*p24-p23*A*p14-p21*p13*D+p11*p23*D-C*p11*p24);
        double K10 = (C*p31*p12+p11*p33*B+p13*A*p32-C*p11*p32-p33*A*p12-p31*p13*B);
        double K11 = (C*p21*p32+p31*p23*B+p33*A*p22-C*p31*p22-p23*A*p32-p21*p33*B);
        double K12 = (-C*p21*p12-p11*p23*B+C*p11*p22+p23*A*p12+p21*p13*B-p13*A*p22);

        //empty all points from cloud
        v->points.erase(v->points.begin(), v->points.end());

        //Create the cv::Mat for valid projection assesment
        cv::Mat XYZ_plane(4, 1, CV_64FC1);
        XYZ_plane.at<double>(3,0) = 1; //homogeneous coordinates
        cv::Mat XYZ_image(4, 1, CV_64FC1);

        //Begin projection of pixels
        for (int i=0; i<(int)p->points.size();i++)
        {
                pcl::PointXYZRGB pix = p->at(i);        
                pcl::PointXYZRGB pt;
            pt.x = -(K1*pix.y + K2*pix.x + K3) / (K4*pix.y + K5*pix.x + K6);
                pt.y = (K7*pix.y + K8*pix.x + K9) / (K10*pix.y + K11*pix.x + K12);
                pt.z = -(A*pt.x + B*pt.y + D)/C;
        
                //Check is projection is valid
                XYZ_plane.at<double>(0,0) = pt.x;
                XYZ_plane.at<double>(1,0) = pt.y;
                XYZ_plane.at<double>(2,0) = pt.z;
                XYZ_image = extrinsic*XYZ_plane;

                if (XYZ_image.at<double>(2,0)>0) //if its valid project
                {
                        valid_projections++;
                        pt.rgb = pix.rgb;
                        v->points.push_back(pt);
                }
                else
                {
                    pt.x = NAN;
                        pt.y = NAN;
                        pt.z = NAN;
                        pt.rgb = NAN;
                        v->points.push_back(pt);
                }
        }

        if (0) //Debug
        {
                ROS_INFO("Projecting %d pixels. Valid projections = %d", (int)p->size(), valid_projections);
        }
return valid_projections;};

int class_pinhole_projection::project_pixel_to_vertex(const std::vector<pcl::PointXY>* p, pcl::PointCloud<pcl::PointXYZ>* v)
{
        cv::Mat transformation;
        transformation.create(4,4,CV_64F);
        transformation = intrinsic*extrinsic;

        cv::Mat* M = &transformation;
        int valid_projections=0;

        //set variables to the transformation matrix
        double p11 = M->at<double>(0,0); double p12 = M->at<double>(0,1); double p13 = M->at<double>(0,2); double p14 = M->at<double>(0,3);
        double p21 = M->at<double>(1,0); double p22 = M->at<double>(1,1); double p23 = M->at<double>(1,2); double p24 = M->at<double>(1,3);
        double p31 = M->at<double>(2,0); double p32 = M->at<double>(2,1); double p33 = M->at<double>(2,2); double p34 = M->at<double>(2,3);

        //set references to the plane parameters
        double &A = projection_plane.a; double &B = projection_plane.b; double &C = projection_plane.c; double &D = projection_plane.d;

        //compute constants
        double K1 = (C*p12*p34+p13*D*p32-p12*p33*D-p32*C*p14-p13*B*p34+p33*B*p14);
        double K2 = (p32*C*p24-p34*C*p22-p33*B*p24-p32*p23*D+p33*D*p22+p34*p23*B);
        double K3 = (-p13*D*p22+C*p14*p22-C*p12*p24+p12*p23*D-p14*p23*B+p13*B*p24);
        double K4 = (C*p31*p12+p11*p33*B+p13*A*p32-C*p11*p32-p33*A*p12-p31*p13*B);
        double K5 = (C*p21*p32+p31*p23*B+p33*A*p22-C*p31*p22-p23*A*p32-p21*p33*B);
        double K6 = (-C*p21*p12-p11*p23*B+C*p11*p22+p23*A*p12+p21*p13*B-p13*A*p22);
        double K7 = (p11*p34*C-p13*A*p34-p11*p33*D+p33*A*p14+p31*p13*D-p31*C*p14);
        double K8 = (-p33*A*p24-p31*p23*D+p23*A*p34+p21*p33*D-C*p21*p34+C*p31*p24);
        double K9 = (C*p21*p14+p13*A*p24-p23*A*p14-p21*p13*D+p11*p23*D-C*p11*p24);
        double K10 = (C*p31*p12+p11*p33*B+p13*A*p32-C*p11*p32-p33*A*p12-p31*p13*B);
        double K11 = (C*p21*p32+p31*p23*B+p33*A*p22-C*p31*p22-p23*A*p32-p21*p33*B);
        double K12 = (-C*p21*p12-p11*p23*B+C*p11*p22+p23*A*p12+p21*p13*B-p13*A*p22);

        //empty all points from cloud
        v->points.erase(v->points.begin(), v->points.end());

        //Create the cv::Mat for valid projection assesment
        cv::Mat XYZ_plane(4, 1, CV_64FC1);
        XYZ_plane.at<double>(3,0) = 1; //homogeneous coordinates
        cv::Mat XYZ_image(4, 1, CV_64FC1);

        //Begin projection of pixels
        for (int i=0; i<(int)p->size();i++)
        {
                pcl::PointXY pix = p->at(i);    
                pcl::PointXYZ pt;
            pt.x = -(K1*pix.y + K2*pix.x + K3) / (K4*pix.y + K5*pix.x + K6);
                pt.y = (K7*pix.y + K8*pix.x + K9) / (K10*pix.y + K11*pix.x + K12);
                pt.z = -(A*pt.x + B*pt.y + D)/C;
        
                //Check is projection is valid
                XYZ_plane.at<double>(0,0) = pt.x;
                XYZ_plane.at<double>(1,0) = pt.y;
                XYZ_plane.at<double>(2,0) = pt.z;
                XYZ_image = extrinsic*XYZ_plane;

                if (XYZ_image.at<double>(2,0)>0) //if its valid project
                {
                        valid_projections++;
                        v->points.push_back(pt);
                }
                else
                {
                    pt.x = NAN;
                        pt.y = NAN;
                        pt.z = NAN;
                        v->points.push_back(pt);
                }
        }

        if (0) //Debug
        {
                ROS_INFO("Projecting %d pixels. Valid projections = %d", (int)p->size(), valid_projections);
        }

return valid_projections;}

#endif