Point Cloud Library (PCL) 1.13.0
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range_image_planar.h
1/*
2 * Software License Agreement (BSD License)
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4 * Point Cloud Library (PCL) - www.pointclouds.org
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37
38#pragma once
39
40#include <pcl/range_image/range_image.h>
41
42namespace pcl
43{
44 /** \brief @b RangeImagePlanar is derived from the original range image and differs from it because it's not a
45 * spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable
46 * for range sensors that already provide a range image by themselves (stereo cameras, ToF-cameras), so that
47 * a conversion to point cloud and then to a spherical range image becomes unnecessary.
48 * \author Bastian Steder
49 * \ingroup range_image
50 */
52 {
53 public:
54 // =====TYPEDEFS=====
56 using Ptr = shared_ptr<RangeImagePlanar>;
57 using ConstPtr = shared_ptr<const RangeImagePlanar>;
58
59 // =====CONSTRUCTOR & DESTRUCTOR=====
60 /** Constructor */
61 PCL_EXPORTS RangeImagePlanar ();
62 /** Destructor */
63 PCL_EXPORTS ~RangeImagePlanar () override;
64
65 /** Return a newly created RangeImagePlanar.
66 * Reimplementation to return an image of the same type. */
68 getNew () const override { return new RangeImagePlanar; }
69
70 /** Copy *this to other. Derived version - also copying additional RangeImagePlanar members */
71 PCL_EXPORTS void
72 copyTo (RangeImage& other) const override;
73
74 // =====PUBLIC METHODS=====
75 /** \brief Get a boost shared pointer of a copy of this */
76 inline Ptr
77 makeShared () { return Ptr (new RangeImagePlanar (*this)); }
78
79 /** \brief Create the image from an existing disparity image.
80 * \param disparity_image the input disparity image data
81 * \param di_width the disparity image width
82 * \param di_height the disparity image height
83 * \param focal_length the focal length of the primary camera that generated the disparity image
84 * \param base_line the baseline of the stereo pair that generated the disparity image
85 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as
86 * close to this angular resolution as possible while not going over this value (the density will not be
87 * lower than this value). The value is in radians per pixel.
88 */
89 PCL_EXPORTS void
90 setDisparityImage (const float* disparity_image, int di_width, int di_height,
91 float focal_length, float base_line, float desired_angular_resolution=-1);
92
93 /** Create the image from an existing depth image.
94 * \param depth_image the input depth image data as float values
95 * \param di_width the disparity image width
96 * \param di_height the disparity image height
97 * \param di_center_x the x-coordinate of the camera's center of projection
98 * \param di_center_y the y-coordinate of the camera's center of projection
99 * \param di_focal_length_x the camera's focal length in the horizontal direction
100 * \param di_focal_length_y the camera's focal length in the vertical direction
101 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as
102 * close to this angular resolution as possible while not going over this value (the density will not be
103 * lower than this value). The value is in radians per pixel.
104 */
105 PCL_EXPORTS void
106 setDepthImage (const float* depth_image, int di_width, int di_height, float di_center_x, float di_center_y,
107 float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1);
108
109 /** Create the image from an existing depth image.
110 * \param depth_image the input disparity image data as short values describing millimeters
111 * \param di_width the disparity image width
112 * \param di_height the disparity image height
113 * \param di_center_x the x-coordinate of the camera's center of projection
114 * \param di_center_y the y-coordinate of the camera's center of projection
115 * \param di_focal_length_x the camera's focal length in the horizontal direction
116 * \param di_focal_length_y the camera's focal length in the vertical direction
117 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as
118 * close to this angular resolution as possible while not going over this value (the density will not be
119 * lower than this value). The value is in radians per pixel.
120 */
121 PCL_EXPORTS void
122 setDepthImage (const unsigned short* depth_image, int di_width, int di_height, float di_center_x, float di_center_y,
123 float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1);
124
125 /** Create the image from an existing point cloud.
126 * \param point_cloud the source point cloud
127 * \param di_width the disparity image width
128 * \param di_height the disparity image height
129 * \param di_center_x the x-coordinate of the camera's center of projection
130 * \param di_center_y the y-coordinate of the camera's center of projection
131 * \param di_focal_length_x the camera's focal length in the horizontal direction
132 * \param di_focal_length_y the camera's focal length in the vertical direction
133 * \param sensor_pose the pose of the virtual depth camera
134 * \param coordinate_frame the used coordinate frame of the point cloud
135 * \param noise_level what is the typical noise of the sensor - is used for averaging in the z-buffer
136 * \param min_range minimum range to consifder points
137 */
138 template <typename PointCloudType> void
139 createFromPointCloudWithFixedSize (const PointCloudType& point_cloud,
140 int di_width, int di_height, float di_center_x, float di_center_y,
141 float di_focal_length_x, float di_focal_length_y,
142 const Eigen::Affine3f& sensor_pose,
143 CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f,
144 float min_range=0.0f);
145
146 // Since we reimplement some of these overloaded functions, we have to do the following:
149
150 /** \brief Calculate the 3D point according to the given image point and range
151 * \param image_x the x image position
152 * \param image_y the y image position
153 * \param range the range
154 * \param point the resulting 3D point
155 * \note Implementation according to planar range images (compared to spherical as in the original)
156 */
157 inline void
158 calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const override;
159
160 /** \brief Calculate the image point and range from the given 3D point
161 * \param point the resulting 3D point
162 * \param image_x the resulting x image position
163 * \param image_y the resulting y image position
164 * \param range the resulting range
165 * \note Implementation according to planar range images (compared to spherical as in the original)
166 */
167 inline void
168 getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const override;
169
170 /** Get a sub part of the complete image as a new range image.
171 * \param sub_image_image_offset_x - The x coordinate of the top left pixel of the sub image.
172 * This is always according to absolute 0,0 meaning -180°,-90°
173 * and it is already in the system of the new image, so the
174 * actual pixel used in the original image is
175 * combine_pixels* (image_offset_x-image_offset_x_)
176 * \param sub_image_image_offset_y - Same as image_offset_x for the y coordinate
177 * \param sub_image_width - width of the new image
178 * \param sub_image_height - height of the new image
179 * \param combine_pixels - shrinking factor, meaning the new angular resolution
180 * is combine_pixels times the old one
181 * \param sub_image - the output image
182 */
183 PCL_EXPORTS void
184 getSubImage (int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width,
185 int sub_image_height, int combine_pixels, RangeImage& sub_image) const override;
186
187 //! Get a range image with half the resolution
188 PCL_EXPORTS void
189 getHalfImage (RangeImage& half_image) const override;
190
191 //! Getter for the focal length in X
192 inline float
193 getFocalLengthX () const { return focal_length_x_; }
194
195 //! Getter for the focal length in Y
196 inline float
197 getFocalLengthY () const { return focal_length_y_; }
198
199 //! Getter for the principal point in X
200 inline float
201 getCenterX () const { return center_x_; }
202
203 //! Getter for the principal point in Y
204 inline float
205 getCenterY () const { return center_y_; }
206
207
208 protected:
209 float focal_length_x_, focal_length_y_; //!< The focal length of the image in pixels
210 float focal_length_x_reciprocal_, focal_length_y_reciprocal_; //!< 1/focal_length -> for internal use
211 float center_x_, center_y_; //!< The principle point of the image
212 };
213} // namespace end
214
215
216#include <pcl/range_image/impl/range_image_planar.hpp> // Definitions of templated and inline functions
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition range_image.h:55
void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &point) const
Calculate the 3D point according to the given image point and range.
virtual void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
Get imagePoint from 3D point in world coordinates.
PCL_EXPORTS RangeImage()
Constructor.
RangeImagePlanar is derived from the original range image and differs from it because it's not a sphe...
PCL_EXPORTS void setDepthImage(const unsigned short *depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1)
Create the image from an existing depth image.
PCL_EXPORTS void getHalfImage(RangeImage &half_image) const override
Get a range image with half the resolution.
RangeImage * getNew() const override
Return a newly created RangeImagePlanar.
Ptr makeShared()
Get a boost shared pointer of a copy of this.
float getCenterX() const
Getter for the principal point in X.
PCL_EXPORTS void getSubImage(int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, int sub_image_height, int combine_pixels, RangeImage &sub_image) const override
Get a sub part of the complete image as a new range image.
void createFromPointCloudWithFixedSize(const PointCloudType &point_cloud, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, const Eigen::Affine3f &sensor_pose, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f)
Create the image from an existing point cloud.
float getFocalLengthY() const
Getter for the focal length in Y.
shared_ptr< const RangeImagePlanar > ConstPtr
float center_y_
The principle point of the image.
float focal_length_y_reciprocal_
1/focal_length -> for internal use
PCL_EXPORTS void copyTo(RangeImage &other) const override
Copy *this to other.
PCL_EXPORTS void setDisparityImage(const float *disparity_image, int di_width, int di_height, float focal_length, float base_line, float desired_angular_resolution=-1)
Create the image from an existing disparity image.
float getCenterY() const
Getter for the principal point in Y.
float getFocalLengthX() const
Getter for the focal length in X.
float focal_length_y_
The focal length of the image in pixels.
PCL_EXPORTS RangeImagePlanar()
Constructor.
shared_ptr< RangeImagePlanar > Ptr
void calculate3DPoint(float image_x, float image_y, float range, Eigen::Vector3f &point) const override
Calculate the 3D point according to the given image point and range.
void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const override
Calculate the image point and range from the given 3D point.
PCL_EXPORTS void setDepthImage(const float *depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1)
Create the image from an existing depth image.
PCL_EXPORTS ~RangeImagePlanar() override
Destructor.