beam_colorize

beam_colorize

This module contains the colorizing techniques used in the inspection pipeline

Classes

Colorizer (superclass)

Colorizer is the parent class to both the Projection and Raytrace classes. This class implements the setters and creation of objects.

Projection (subclass)

Projection implements ColorizePointCloud through the use of the CameraModels projection method.

Raytrace (subclass)

Raytrace implements ColorizePointCloud through the use of BackProject and a ray casting technique.

Example Use

The following shows an example usage of the colorizer module

#include "beam_calibration/CameraModel.h"
#include "beam_colorize/Projection.h"
#include "beam_colorize/RayTrace.h"
#include "beam_utils/math.hpp"

#include <boost/filesystem.hpp>

#include <iostream>
#include <pcl/common/transforms.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>

int main() {
  // load intrinsics
  std::string intrinsics_name = "F1.json";
  std::string intrinsics_location = __FILE__;
  intrinsics_location.erase(intrinsics_location.end() - 15,
                            intrinsics_location.end());
  intrinsics_location += "tests/test_data/";
  intrinsics_location += intrinsics_name;

  std::shared_ptr<beam_calibration::CameraModel> F1 =
      beam_calibration::CameraModel::LoadJSON(intrinsics_location);

  // load Image
  std::string image_name = "test.jpg";
  std::string image_location = __FILE__;
  image_location.erase(image_location.end() - 15, image_location.end());
  image_location += "tests/test_data/";
  image_location += image_name;

  cv::Mat image;
  image = cv::imread(image_location, CV_LOAD_IMAGE_COLOR);

  // load pcd
  std::string pcd_name = "test.pcd";
  std::string pcd_location = __FILE__;
  pcd_location.erase(pcd_location.end() - 15, pcd_location.end());
  pcd_location += "tests/test_data/";
  pcd_location += pcd_name;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
  pcl::io::loadPCDFile<pcl::PointXYZ>(pcd_location, *cloud);

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_colored(
      new pcl::PointCloud<pcl::PointXYZRGB>);
  beam_colorize::RayTrace colorizer;
  bool image_distorted = true;
  colorizer.SetPointCloud(cloud);
  colorizer.SetImage(image);
  colorizer.SetIntrinsics(F1);
  colorizer.SetDistortion(image_distorted);
  cloud_colored = colorizer.ColorizePointCloud();

  pcl::visualization::PCLVisualizer::Ptr viewer(
      new pcl::visualization::PCLVisualizer("3D Viewer"));
  viewer->setBackgroundColor(200, 200, 200);
  pcl::visualization::PointCloudColorHandlerRGBField<pcl::PointXYZRGB> rgb(
      cloud_colored);
  viewer->addPointCloud<pcl::PointXYZRGB>(cloud_colored, rgb, "test cloud");
  viewer->setPointCloudRenderingProperties(
      pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "test cloud");
  viewer->addCoordinateSystem(1.0);
  viewer->initCameraParameters();
  while (!viewer->wasStopped()) { viewer->spinOnce(10); }

}