Merge pull request #5296 from mvieth/range_image_optional_cropping

Add option to RangeImage to turn cropping off

Author: mvieth

common/include/pcl/range_image/impl/range_image.hpp

@@ -135,9 +135,11 @@ RangeImage::createFromPointCloud (const PointCloudType& point_cloud,
   int top=height, right=-1, bottom=-1, left=width;
   doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);
 
-  cropImage (border_size, top, right, bottom, left);
+  if (border_size != std::numeric_limits<int>::min()) {
+    cropImage (border_size, top, right, bottom, left);
 
-  recalculate3DPointPositions ();
+    recalculate3DPointPositions ();
+  }
 }
 
 /////////////////////////////////////////////////////////////////////////
@@ -196,9 +198,11 @@ RangeImage::createFromPointCloudWithKnownSize (const PointCloudType& point_cloud
   int top=height, right=-1, bottom=-1, left=width;
   doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);
 
-  cropImage (border_size, top, right, bottom, left);
+  if (border_size != std::numeric_limits<int>::min()) {
+    cropImage (border_size, top, right, bottom, left);
 
-  recalculate3DPointPositions ();
+    recalculate3DPointPositions ();
+  }
 }
 
 /////////////////////////////////////////////////////////////////////////

common/include/pcl/range_image/range_image.h

@@ -139,7 +139,7 @@ namespace pcl
         *                      but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and
         *                      will always take the minimum per cell.
         * \param min_range the minimum visible range (defaults to 0)
-        * \param border_size the border size (defaults to 0)
+        * \param border_size the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.
         */
       template <typename PointCloudType> void
       createFromPointCloud (const PointCloudType& point_cloud, float angular_resolution=pcl::deg2rad (0.5f),
@@ -163,7 +163,7 @@ namespace pcl
         *                      but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and
         *                      will always take the minimum per cell.
         * \param min_range the minimum visible range (defaults to 0)
-        * \param border_size the border size (defaults to 0)
+        * \param border_size the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.
         */
       template <typename PointCloudType> void
       createFromPointCloud (const PointCloudType& point_cloud,
@@ -186,7 +186,7 @@ namespace pcl
         *                      but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and
         *                      will always take the minimum per cell.
         * \param min_range the minimum visible range (defaults to 0)
-        * \param border_size the border size (defaults to 0)
+        * \param border_size the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.
         */
       template <typename PointCloudType> void
       createFromPointCloudWithKnownSize (const PointCloudType& point_cloud, float angular_resolution,
@@ -211,7 +211,7 @@ namespace pcl
         *                      but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and
         *                      will always take the minimum per cell.
         * \param min_range the minimum visible range (defaults to 0)
-        * \param border_size the border size (defaults to 0)
+        * \param border_size the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.
         */
       template <typename PointCloudType> void
       createFromPointCloudWithKnownSize (const PointCloudType& point_cloud,
@@ -232,7 +232,7 @@ namespace pcl
         *                      but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and
         *                      will always take the minimum per cell.
         * \param min_range the minimum visible range (defaults to 0)
-        * \param border_size the border size (defaults to 0)
+        * \param border_size the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.
         * \note If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame
         * with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y
         * to the bottom and z to the front) */
@@ -256,7 +256,7 @@ namespace pcl
         *                      but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and
         *                      will always take the minimum per cell.
         * \param min_range the minimum visible range (defaults to 0)
-        * \param border_size the border size (defaults to 0)
+        * \param border_size the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.
         * \note If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame
         * with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y
         * to the bottom and z to the front) */