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predeal.hpp
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#ifndef _PREDEAL_H_
#define _PREDEAL_H_
#include<cassert>
#include<cmath>
#include<iostream>
#include<sensor_msgs/LaserScan.h>
#include<sensor_msgs/PointCloud.h>
#include<Eigen/Dense>
#include<fstream>
#include<pcl/common/common.h>
using namespace std;
namespace preDeal
{
/**
* \brief Transform the point in matrix frame into real world frame. The default origin of world frame is in the centriod of matrix
*/
Eigen::Vector2f gird2world(const float &map_resolution, Eigen::Vector2i map_origin , const Eigen::Vector2i& position_grid)
{
Eigen::Vector2f pos;
//x_in_map_frame=map_origin_y_in_img_frame-y_in_img_frame
//y_in_map_frame=x_img_frame-map_origin_x_in_img_frame
//x_in_world=map_resolution*x_in_map_frame
//y_in_world=map_resolution*y_in_map_frame
pos<<map_resolution*(position_grid(1)-map_origin(1)),map_resolution*(map_origin(0)-position_grid(0));
return pos;
}
/**
* \brief Transform the point in real world frame into matrix frame.
* \param[in] map_origin 地图原点在矩阵坐标系下的坐标
* \param[in] map_resolution 地图的分辨率，单位是米
* \param[in] position 地图坐标系下点的位置
* \return 矩阵坐标系下点的位置
*/
Eigen::Vector2i world2grid(const float &map_resolution, Eigen::Vector2i map_origin , Eigen::Vector2f& position)
{
Eigen::Vector2i x;
//通过上面反推
x<<map_origin(0)-floor(position(1)/map_resolution),floor(position(0)/map_resolution)+map_origin(1);
return x;
}
/**
* \brief Transform scan into point cloud
* \param[in] scan the scan data
* \param[out] pcout the point cloud in scan frame
*/
void scan2pc(const sensor_msgs::LaserScan &scan, sensor_msgs::PointCloud &pcout)
{
if(scan.ranges.empty())
{
cout<<"failed to Transform scan into point cloud because the scan is empty"<<endl;
assert(scan.ranges.size()>0);
}
pcout.points.reserve(scan.ranges.size());
for(int i=0;i<scan.ranges.size();i++)
{
geometry_msgs::Point32 point;
if(scan.ranges[i]<scan.range_max)
{
point.x=scan.ranges[i]*cos(scan.angle_min+i*scan.angle_increment);
point.y=scan.ranges[i]*sin(scan.angle_min+i*scan.angle_increment);
point.z=0;
pcout.points.push_back(point);
}
}
pcout.header.frame_id=scan.header.frame_id;
pcout.header.stamp=scan.header.stamp;
}
/**
* \brief transform point cloud into target_frame using pose3d, it is noted that the transform only is suitable for 2D situation
* \param[in] pcin the point cloud to transform
* \param[out] pcout the point cloud transformed
* \param[in] pose3d the pose of pcin in target_frame, it is noted that rotation represent the transform from pc_frame into target_frame
* \param[in] target_frame it is used to label the pcout
*/
void transformPointCloud(const sensor_msgs::PointCloud& pcin, sensor_msgs::PointCloud &pcout, const Eigen::Vector3f &pose3d,const string & target_frame)
{
if(!pcout.points.empty())
{
pcout.points.clear();
}
Eigen::Quaternion<float> q(cos(pose3d(2)/2), 0,0,sin(pose3d(2)/2));
Eigen::Vector3f trans(pose3d(0),pose3d(1),0), transformedPoint, initPoint;
for(int i=0;i<pcin.points.size();i++)
{
initPoint<<pcin.points[i].x, pcin.points[i].y,0;
geometry_msgs::Point32 tempoint;
transformedPoint=q.toRotationMatrix()*initPoint+trans;
// transformedPoint=q.toRotationMatrix().transpose()*initPoint+trans;
tempoint.x=transformedPoint(0); tempoint.y=transformedPoint(1);tempoint.z=0;
pcout.points.push_back(tempoint);
}
pcout.header.frame_id=target_frame;
}
void vector3ftoRationTtrans(const Eigen::Vector3f& pose, Eigen::Matrix3f& R, Eigen::Vector3f& t)
{
Eigen::Quaternion<float> q_w_target(cos(pose(2)/2),0,0,sin(pose(2)/2));
t(0)=pose(0);
t(1)=pose(1);
t(2)=0.0f;
R=q_w_target.toRotationMatrix();
}
void rotateTransToVector3f( Eigen::Vector3f& pose, const Eigen::Matrix3f& R, const Eigen::Vector3f& t)
{
Eigen::Quaternion<float> q(R);
Eigen::Vector3f v;
//以下的处理非常重要，只适用于只存在偏航角的情况
float a1=acos(q.w());
float a2=-a1;
if(abs(sin(a1)-q.z())<0.001f)
{
pose(2)=2*a1;
}
else if(abs(sin(a2)-q.z())<0.001f)
{
pose(2)=2*a2;
//cout<<v(2)<<endl;
}
else{
cout<<"四元数解析错误，该旋转轴不为z轴"<<endl;
exit(0);
}
pose(1)=t(1);
pose(0)=t(0);
}
void readpcdfile(const string& dir, pcl::PointCloud< pcl::PointXYZ >& pcd)
{
ifstream file;
file.open(dir.c_str(), ios_base::in);
if(file.good())
{
while(file.good())
{
pcl::PointXYZ tempoint;
file>>tempoint.x>>tempoint.y>>tempoint.z;
pcd.push_back(tempoint);
}
}
else
{
cout<<"can't open the file in the specified dir"<<endl;
assert(file.good());
}
}
/*
* 有问题，不能这样做，因为laser frame到odom frame不仅仅只有俯仰角的变化，所以不能简单的用pose3d来代表transform
void transformPC(const sensor_msgs::LaserScan &scan, sensor_msgs::PointCloud &pcout, const Eigen::Vector3f &pose3d,const string & target_frame)
{
sensor_msgs::PointCloud pcin;
scan2pc(scan,pcin);
pcout.points.clear();
Eigen::Quaternion<float> q(cos(pose3d(2)/2), 0,0,sin(pose3d(2)/2));
Eigen::Vector3f trans(pose3d(0),pose3d(1),0), transformedPoint, initPoint;
for(int i=0;i<pcin.points.size();i++)
{
initPoint<<pcin.points[i].x, pcin.points[i].y,0;
geometry_msgs::Point32 tempoint;
transformedPoint=q.toRotationMatrix().transpose()*initPoint+trans;
tempoint.x=transformedPoint(0); tempoint.y=-transformedPoint(1);tempoint.z=0;
pcout.points.push_back(tempoint);
}
pcout.header.frame_id=target_frame;
}
*/
}
#endif