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png2pcd.cpp
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787 lines (677 loc) · 28.8 KB
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: png2pcd.cpp 6766 2012-08-09 16:44:37Z gioia $
*
*/
/** \brief PNG 2 PCD converter
*
* This converter takes two input: the name of the input PNG file and the name of the output PCD file.
* It performs the conversion of the PNG file into the PCD file by creating a pcl::PointCloud<pcl::RGB>>
* point cloud.
*
* \author Gioia Ballin
*
*/
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/time.h>
#include <pcl/console/print.h>
#include <pcl/console/parse.h>
#include <vtkImageData.h> // for vtkImageData
#include <vtkSmartPointer.h> // for vtkSmartPointer
#include <vtkPNGReader.h> // for vtkPNGReader
#define RED_MULTIPLIER 0.299
#define GREEN_MULTIPLIER 0.587
#define BLUE_MULTIPLIER 0.114
#define MAX_COLOR_INTENSITY 255
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
void
printHelp (int, char **argv)
{
std::cout << std::endl;
std::cout << "***************************************************************************" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "* PNG 2 PCD CONVERTER - Usage Guide *" << std::endl;
std::cout << "* *" << std::endl;
std::cout << "***************************************************************************" << std::endl << std::endl;
std::cout << "Usage: " << argv[0] << " [Options] color.png [depth.png] output.pcd" << std::endl << std::endl;
std::cout << "Options:" << std::endl;
std::cout << " -h: Show this help." << std::endl;
std::cout << " -format 0 | 1: Set the format of the output pcd file." << std::endl;
std::cout << " -mode DEFAULT | FORCE_COLOR | FORCE_GRAYSCALE: Set the working mode of the converter." << std::endl;
std::cout << " --intensity_type: FLOAT | UINT_8 Set the desired intensity type" << std::endl;
std::cout << " FLOAT is always used when depth input file is valid." << std::endl;
std::cout << " --v_viewing_angle angle Set vertical viewing angle of 3D camera." << std::endl;
std::cout << " Default value is 43 (for Kinect device)." << std::endl;
std::cout << " This option is only used when depth input file is valid." << std::endl;
std::cout << " --h_viewing_angle angle Set horizontal viewing angle of 3D camera." << std::endl;
std::cout << " Default value is 57 (for Kinect device)." << std::endl;
std::cout << " This option is only used when depth input file is valid." << std::endl;
std::cout << " --depth_unit mm | m Set unit of depth values in depth.png (default is mm)." << std::endl;
}
template<typename PointInT> void
saveCloud (const std::string &filename, const PointCloud<PointInT> &cloud, bool format)
{
TicToc tt;
tt.tic ();
print_highlight ("Saving "); print_value ("%s ", filename.c_str ());
savePCDFile (filename, cloud, format);
print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud.width * cloud.height); print_info (" points]\n");
}
inline void
depth2xyz (float v_viewing_angle, float h_viewing_angle,
int image_width, int image_height, int image_x, int image_y,
float depth, float &x, float &y, float &z)
{
constexpr float PI = 3.1415927;
if (depth <= 0.0f)
{
x = y = z = std::numeric_limits<float>::quiet_NaN ();
}
else
{
float width = depth * std::tan (h_viewing_angle * PI / 180 / 2) * 2;
float height = depth * std::tan (v_viewing_angle * PI / 180 / 2) * 2;
x = (image_x - image_width / 2.0) / image_width * width;
y = (image_height / 2.0 - image_y) / image_height * height;
z = depth;
}
}
/* ---[ */
int
main (int argc, char** argv)
{
print_info ("Convert a (or two with color and depth) PNG file to PCD format. For more information, use: %s -h\n", argv[0]);
if (argc < 3)
{
printHelp (argc, argv);
return (-1);
}
// Parse the command line arguments for .vtk and .ply files
std::vector<int> png_file_indices = parse_file_extension_argument (argc, argv, ".png");
std::vector<int> pcd_file_indices = parse_file_extension_argument (argc, argv, ".pcd");
if ((png_file_indices.size () != 1 && png_file_indices.size () != 2) || pcd_file_indices.size () != 1)
{
print_error ("Need one/two input PNG file and one output PCD file.\n");
return (-1);
}
// Command line parsing
bool format = false;
parse_argument (argc, argv, "-format", format);
print_info ("PCD output format: "); print_value ("%s\n", (format ? "binary" : "ascii"));
std::string mode = "DEFAULT";
if (parse_argument (argc, argv, "-mode", mode) != -1)
{
if (! (mode == "DEFAULT" || mode == "FORCE_COLOR" || mode == "FORCE_GRAYSCALE") )
{
std::cout << "Wrong mode name.\n";
printHelp (argc, argv);
exit (-1);
}
}
print_info ("%s mode selected.\n", mode.c_str ());
// Load the color input file
vtkSmartPointer<vtkImageData> color_image_data;
vtkSmartPointer<vtkPNGReader> color_reader = vtkSmartPointer<vtkPNGReader>::New ();
color_reader->SetFileName (argv[png_file_indices[0]]);
color_reader->Update ();
color_image_data = color_reader->GetOutput ();
int components = color_image_data->GetNumberOfScalarComponents ();
int dimensions[3];
color_image_data->GetDimensions (dimensions);
// Load the depth input file
vtkSmartPointer<vtkImageData> depth_image_data;
vtkSmartPointer<vtkPNGReader> depth_reader;
bool enable_depth = false;
float v_viewing_angle = 43.0f;
float h_viewing_angle = 57.0f;
float depth_unit_magic = 1000.0f;
if (png_file_indices.size () == 2)
{
depth_reader = vtkSmartPointer<vtkPNGReader>::New ();
depth_reader->SetFileName (argv[png_file_indices[1]]);
depth_reader->Update ();
depth_image_data = depth_reader->GetOutput ();
if (depth_reader->GetNumberOfScalarComponents () != 1)
{
print_error ("Component number of depth input file should be 1.\n");
exit (-1);
}
int depth_dimensions[3];
depth_image_data->GetDimensions (depth_dimensions);
if (depth_dimensions[0] != dimensions[0] || depth_dimensions[1] != dimensions[1])
{
print_error ("Width or height of the color and depth input file should be the same.\n");
exit (-1);
}
parse_argument (argc, argv, "--v_viewing_angle", v_viewing_angle);
parse_argument (argc, argv, "--h_viewing_angle",
C02E
h_viewing_angle);
std::string depth_unit;
if (parse_argument (argc, argv, "--depth_unit", depth_unit) > 0)
{
if (depth_unit == "m")
{
depth_unit_magic = 1.0f;
}
else if (depth_unit == "mm")
{
depth_unit_magic = 1000.0f;
}
else
{
print_error ("Unknown depth unit defined.\n");
exit (-1);
}
}
enable_depth = true;
}
// Retrieve the entries from the image data and copy them into the output RGB cloud
double* pixel = new double [4]{0.0};
float depth;
std::string intensity_type;
if (mode == "DEFAULT")
{
//
// If the input image is a monochrome image the output cloud will be:
// - a pcl::PointCloud<pcl::Intensity> if the intensity_type flag is set to FLOAT;
// - a pcl::PointCloud<pcl::Intensity8u> if the intensity_type flag is set to UINT_8;
// otherwise it will be a pcl::PointCloud<pcl::RGB>.
//
if (pcl::console::parse_argument (argc, argv, "--intensity_type", intensity_type) != -1)
{
if (intensity_type != "FLOAT" && intensity_type != "UINT_8")
{
print_error ("Wrong intensity option.\n");
printHelp (argc, argv);
exit (-1);
}
}
else
{
print_error ("The intensity type must be set to enable the PNG conversion.\n");
exit (-1);
}
PointCloud<Intensity> mono_cloud;
PointCloud<Intensity8u> mono_cloud_u8;
PointCloud<RGB> color_cloud;
PointCloud<PointXYZI> mono_depth_cloud;
PointCloud<PointXYZRGB> rgb_depth_cloud;
PointCloud<PointXYZRGBA> rgba_depth_cloud;
switch (components)
{
case 1: if (intensity_type == "FLOAT")
{
if (enable_depth)
{
mono_depth_cloud.width = dimensions[0];
mono_depth_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
mono_depth_cloud.is_dense = false;
mono_depth_cloud.resize (mono_depth_cloud.width * mono_depth_cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
PointXYZI xyzi;
depth2xyz (v_viewing_angle, h_viewing_angle,
mono_depth_cloud.width, mono_depth_cloud.height, x, y,
depth, xyzi.x, xyzi.y, xyzi.z);
xyzi.intensity = static_cast<float> (pixel[0]) / MAX_COLOR_INTENSITY;
mono_depth_cloud (x, dimensions[1] - y -1) = xyzi;
}
}
// Save the point cloud into a PCD file
saveCloud<PointXYZI> (argv[pcd_file_indices[0]], mono_depth_cloud, format);
}
else
{
mono_cloud.width = dimensions[0];
mono_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
mono_cloud.is_dense = true;
mono_cloud.resize (mono_cloud.width * mono_cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
Intensity gray;
gray.intensity = static_cast<float> (pixel[0]) / MAX_COLOR_INTENSITY;
mono_cloud (x, dimensions[1] - y - 1) = gray;
}
}
// Save the point cloud into a PCD file
saveCloud<Intensity> (argv[pcd_file_indices[0]], mono_cloud, format);
}
}
else
{
mono_cloud_u8.width = dimensions[0];
mono_cloud_u8.height = dimensions[1]; // This indicates that the point cloud is organized
mono_cloud_u8.is_dense = true;
mono_cloud_u8.resize (mono_cloud_u8.width * mono_cloud_u8.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
Intensity8u gray;
gray.intensity = static_cast<std::uint8_t> (pixel[0]);
mono_cloud_u8 (x, dimensions[1] - y - 1) = gray;
}
}
// Save the point cloud into a PCD file
saveCloud<Intensity8u> (argv[pcd_file_indices[0]], mono_cloud_u8, format);
}
break;
case 3: if (enable_depth)
{
rgb_depth_cloud.width = dimensions[0];
rgb_depth_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
rgb_depth_cloud.is_dense = false;
rgb_depth_cloud.resize (rgb_depth_cloud.width * rgb_depth_cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
PointXYZRGB xyzrgb;
depth2xyz (v_viewing_angle, h_viewing_angle,
rgb_depth_cloud.width, rgb_depth_cloud.height, x, y,
depth, xyzrgb.x, xyzrgb.y, xyzrgb.z);
xyzrgb.r = static_cast<std::uint8_t> (pixel[0]);
xyzrgb.g = static_cast<std::uint8_t> (pixel[1]);
xyzrgb.b = static_cast<std::uint8_t> (pixel[2]);
rgb_depth_cloud (x, dimensions[1] - y - 1) = xyzrgb;
}
}
// Save the point cloud into a PCD file
saveCloud<PointXYZRGB> (argv[pcd_file_indices[0]], rgb_depth_cloud, format);
}
else
{
color_cloud.width = dimensions[0];
color_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
color_cloud.is_dense = true;
color_cloud.resize (color_cloud.width * color_cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
RGB color;
color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[1]);
color.b = static_cast<std::uint8_t> (pixel[2]);
int rgb = (static_cast<int> (color.r)) << 16 |
(static_cast<int> (color.g)) << 8 |
(static_cast<int> (color.b));
color.rgb = static_cast<float> (rgb);
color.rgba = static_cast<std::uint32_t> (rgb);
color_cloud (x, dimensions[1] - y - 1) = color;
}
}
// Save the point cloud into a PCD file
saveCloud<RGB> (argv[pcd_file_indices[0]], color_cloud, format);
}
break;
case 4: if (enable_depth)
{
rgba_depth_cloud.width = dimensions[0];
rgba_depth_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
rgba_depth_cloud.is_dense = false;
rgba_depth_cloud.resize (rgba_depth_cloud.width * rgba_depth_cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
pixel[3] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 3);
depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
PointXYZRGBA xyzrgba;
depth2xyz (v_viewing_angle, h_viewing_angle,
rgba_depth_cloud.width, rgba_depth_cloud.height, x, y,
depth, xyzrgba.x, xyzrgba.y, xyzrgba.z);
xyzrgba.r = static_cast<std::uint8_t> (pixel[0]);
xyzrgba.g = static_cast<std::uint8_t> (pixel[1]);
xyzrgba.b = static_cast<std::uint8_t> (pixel[2]);
xyzrgba.a = static_cast<std::uint8_t> (pixel[3]);
rgba_depth_cloud (x, dimensions[1] - y - 1) = xyzrgba;
}
}
// Save the point cloud into a PCD file
saveCloud<PointXYZRGBA> (argv[pcd_file_indices[0]], rgba_depth_cloud, format);
}
else
{
color_cloud.width = dimensions[0];
color_cloud.height = dimensions[1]; // This indicates that the point cloud is organized
color_cloud.is_dense = true;
color_cloud.resize (color_cloud.width * color_cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
pixel[0] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 0);
pixel[1] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 1);
pixel[2] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 2);
pixel[3] = color_image_data->GetScalarComponentAsDouble (x, y, 0, 3);
RGB color;
color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[1]);
color.b = static_cast<std::uint8_t> (pixel[2]);
color.a = static_cast<std::uint8_t> (pixel[3]);
int rgb = (static_cast<int> (color.r)) << 16 |
(static_cast<int> (color.g)) << 8 |
(static_cast<int> (color.b));
int rgba = (static_cast<int> (color.a)) << 24 |
(static_cast<int> (color.r)) << 16 |
(static_cast<int> (color.g)) << 8 |
(static_cast<int> (color.b));
color.rgb = static_cast<float> (rgb);
color.rgba = static_cast<std::uint32_t> (rgba);
color_cloud (x, dimensions[1] - y - 1) = color;
}
}
// Save the point cloud into a PCD file
saveCloud<RGB> (argv[pcd_file_indices[0]], color_cloud, format);
}
break;
}
}
else if (mode == "FORCE_COLOR")
{
//
// Force the output cloud to be colored even if the input image is a
// monochrome image.
//
if (enable_depth)
{
PointCloud<PointXYZRGBA> cloud;
int dimensions[3];
color_image_data->GetDimensions (dimensions);
cloud.width = dimensions[0];
cloud.height = dimensions[1]; // This indicates that the point cloud is organized
cloud.is_dense = false;
cloud.resize (cloud.width * cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
PointXYZRGBA color;
depth2xyz (v_viewing_angle, h_viewing_angle,
cloud.width, cloud.height, x, y,
depth, color.x, color.y, color.z);
color.r = 0;
color.g = 0;
color.b = 0;
color.a = 0;
switch (components)
{
case 1: color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[0]);
color.b = static_cast<std::uint8_t> (pixel[0]);
break;
case 3: color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[1]);
color.b = static_cast<std::uint8_t> (pixel[2]);
break;
case 4: color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[1]);
color.b = static_cast<std::uint8_t> (pixel[2]);
color.a = static_cast<std::uint8_t> (pixel[3]);
break;
}
cloud (x, dimensions[1] - y -1) = color;
}
}
// Save the point cloud into a PCD file
saveCloud<PointXYZRGBA> (argv[pcd_file_indices[0]], cloud, format);
}
else
{
PointCloud<RGB> cloud;
int dimensions[3];
color_image_data->GetDimensions (dimensions);
cloud.width = dimensions[0];
cloud.height = dimensions[1]; // This indicates that the point cloud is organized
cloud.is_dense = true;
cloud.resize (cloud.width * cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
RGB color;
color.r = 0;
color.g = 0;
color.b = 0;
color.a = 0;
color.rgb = 0.0f;
color.rgba = 0;
int rgb;
int rgba;
switch (components)
{
case 1: color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[0]);
color.b = static_cast<std::uint8_t> (pixel[0]);
rgb = (static_cast<int> (color.r)) << 16 |
(static_cast<int> (color.g)) << 8 |
(static_cast<int> (color.b));
rgba = rgb;
color.rgb = static_cast<float> (rgb);
color.rgba = static_cast<std::uint32_t> (rgba);
break;
case 3: color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[1]);
color.b = static_cast<std::uint8_t> (pixel[2]);
rgb = (static_cast<int> (color.r)) << 16 |
(static_cast<int> (color.g)) << 8 |
(static_cast<int> (color.b));
rgba = rgb;
color.rgb = static_cast<float> (rgb);
color.rgba = static_cast<std::uint32_t> (rgba);
break;
case 4: color.r = static_cast<std::uint8_t> (pixel[0]);
color.g = static_cast<std::uint8_t> (pixel[1]);
color.b = static_cast<std::uint8_t> (pixel[2]);
color.a = static_cast<std::uint8_t> (pixel[3]);
rgb = (static_cast<int> (color.r)) << 16 |
(static_cast<int> (color.g)) << 8 |
(static_cast<int> (color.b));
rgba = (static_cast<int> (color.a)) << 24 |
(static_cast<int> (color.r)) << 16 |
(static_cast<int> (color.g)) << 8 |
(static_cast<int> (color.b));
color.rgb = static_cast<float> (rgb);
color.rgba = static_cast<std::uint32_t> (rgba);
break;
}
cloud (x, dimensions[1] - y - 1) = color;
}
}
// Save the point cloud into a PCD file
saveCloud<RGB> (argv[pcd_file_indices[0]], cloud, format);
}
}
else if (mode == "FORCE_GRAYSCALE")
{
if (enable_depth)
{
PointCloud<PointXYZI> cloud;
int dimensions[3];
color_image_data->GetDimensions (dimensions);
cloud.width = dimensions[0];
cloud.height = dimensions[1]; // This indicates that the point cloud is organized
cloud.is_dense = false;
cloud.resize (cloud.width * cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
depth = depth_image_data->GetScalarComponentAsFloat (x, y, 0, 0) / depth_unit_magic;
PointXYZI gray;
depth2xyz (v_viewing_angle, h_viewing_angle,
cloud.width, cloud.height, x, y,
depth, gray.x, gray.y, gray.z);
switch (components)
{
case 1: gray.intensity = static_cast<float> (pixel[0]) / MAX_COLOR_INTENSITY;
break;
case 3: gray.intensity = static_cast<float> ( RED_MULTIPLIER * pixel[0] +
GREEN_MULTIPLIER * pixel[1] +
BLUE_MULTIPLIER * pixel[2] ) / MAX_COLOR_INTENSITY;
break;
case 4: gray.intensity = static_cast<float> ( RED_MULTIPLIER * pixel[0] +
GREEN_MULTIPLIER * pixel[1] +
BLUE_MULTIPLIER * pixel[2] ) / MAX_COLOR_INTENSITY;
break;
}
cloud (x, dimensions[1] - y - 1) = gray;
}
}
// Save the point cloud into a PCD file
saveCloud<PointXYZI> (argv[pcd_file_indices[0]], cloud, format);
}
else
//
// Force the output cloud to be:
// - a pcl::PointCloud<pcl::Intensity> if the intensity_type flag is set to FLOAT;
// - a pcl::PointCloud<pcl::Intensity8u> if the intensity_type flag is set to UINT_8;
// even if the input image is a RGB or a RGBA image.
//
{
PointCloud<Intensity> cloud;
PointCloud<Intensity8u> cloud8u;
if (pcl::console::parse_argument (argc, argv, "--intensity_type", intensity_type) != -1)
{
if (intensity_type == "FLOAT")
{
cloud.width = dimensions[0];
cloud.height = dimensions[1]; // This indicates that the point cloud is organized
cloud.is_dense = true;
cloud.resize (cloud.width * cloud.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
Intensity gray;
switch (components)
{
case 1: gray.intensity = static_cast<float> (pixel[0]) / MAX_COLOR_INTENSITY;
break;
case 3: gray.intensity = static_cast<float> ( RED_MULTIPLIER * pixel[0] +
GREEN_MULTIPLIER * pixel[1] +
BLUE_MULTIPLIER * pixel[2] ) / MAX_COLOR_INTENSITY;
break;
case 4: gray.intensity = static_cast<float> ( RED_MULTIPLIER * pixel[0] +
GREEN_MULTIPLIER * pixel[1] +
BLUE_MULTIPLIER * pixel[2] ) / MAX_COLOR_INTENSITY;
break;
}
cloud (x, dimensions[1] - y - 1) = gray;
}
}
// Save the point cloud into a PCD file
saveCloud<Intensity> (argv[pcd_file_indices[0]], cloud, format);
}
else if (intensity_type != "UINT_8")
{
cloud8u.width = dimensions[0];
cloud8u.height = dimensions[1]; // This indicates that the point cloud is organized
cloud8u.is_dense = true;
cloud8u.resize (cloud8u.width * cloud8u.height);
for (int y = 0; y < dimensions[1]; y++)
{
for (int x = 0; x < dimensions[0]; x++)
{
for (int c = 0; c < components; c++)
pixel[c] = color_image_data->GetScalarComponentAsDouble (x, y, 0, c);
Intensity8u gray;
switch (components)
{
case 1: gray.intensity = static_cast<std::uint8_t> (pixel[0]);
break;
case 3: gray.intensity = static_cast<std::uint8_t> ( RED_MULTIPLIER * pixel[0] +
GREEN_MULTIPLIER * pixel[1] +
BLUE_MULTIPLIER * pixel[2] );
break;
case 4: gray.intensity = static_cast<std::uint8_t> ( RED_MULTIPLIER * pixel[0] +
GREEN_MULTIPLIER * pixel[1] +
BLUE_MULTIPLIER * pixel[2] );
break;
}
cloud8u (x, dimensions[1] - y - 1) = gray;
}
}
// Save the point cloud into a PCD file
saveCloud<Intensity8u> (argv[pcd_file_indices[0]], cloud8u, format);
}
else
{
print_error ("Wrong intensity option.\n");
printHelp (argc, argv);
exit (-1);
}
}
else
{
print_error ("The intensity type must be set to enable the PNG conversion.\n");
exit (-1);
}
}
}
delete[] pixel;
return 0;
}