Public Types | Public Member Functions | Static Public Member Functions | Static Public Attributes | Protected Member Functions | Static Protected Member Functions | Protected Attributes | Static Protected Attributes

pcl::RangeImage Class Reference
[Module range_image]

RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where a 3D scene was captured from a specific view point. More...

#include <pcl/range_image/range_image.h>

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List of all members.

Public Types

enum  CoordinateFrame { CAMERA_FRAME = 0, LASER_FRAME = 1 }
typedef pcl::PointCloud
< PointWithRange
BaseClass
typedef std::vector
< Eigen::Vector3f,
Eigen::aligned_allocator
< Eigen::Vector3f > > 
VectorOfEigenVector3f
typedef boost::shared_ptr
< RangeImage
Ptr
typedef boost::shared_ptr
< const RangeImage
ConstPtr

Public Member Functions

PCL_EXPORTS RangeImage ()
 Constructor.
PCL_EXPORTS ~RangeImage ()
 Destructor.
Ptr makeShared ()
 Get a boost shared pointer of a copy of this.
PCL_EXPORTS void reset ()
 Reset all values to an empty range image.
template<typename PointCloudType >
void createFromPointCloud (const PointCloudType &point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, const Eigen::Affine3f &sensor_pose, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
 Create the depth image from a point cloud.
template<typename PointCloudType >
void createFromPointCloudWithKnownSize (const PointCloudType &point_cloud, float angular_resolution, const Eigen::Vector3f &point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &sensor_pose, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
 Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.
template<typename PointCloudTypeWithViewpoints >
void createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
 Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).
PCL_EXPORTS void integrateFarRanges (const PointCloud< PointWithViewpoint > &far_ranges)
PCL_EXPORTS void cropImage (int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)
 Cut the range image to the minimal size so that it still contains all actual range readings.
PCL_EXPORTS float * getRangesArray () const
 Get all the range values in one float array of size width*height.
Eigen::Affine3f & getTransformationToRangeImageSystem ()
 Getter for the transformation from the world system into the range image system (the sensor coordinate frame).
void setTransformationToRangeImageSystem (const Eigen::Affine3f &to_range_image_system)
 Setter for the transformation from the range image system (the sensor coordinate frame) into the world system.
const Eigen::Affine3f & getTransformationToWorldSystem () const
 Getter for the transformation from the range image system (the sensor coordinate frame) into the world system.
float getAngularResolution () const
 Getter for the angular resolution of the range image in radians per pixel.
void setAngularResolution (float angular_resolution)
 Set the angular resolution of the range image.
const PointWithRangegetPoint (int image_x, int image_y) const
 Return the 3D point with range at the given image position.
PointWithRangegetPoint (int image_x, int image_y)
 Non-const-version of getPoint.
const PointWithRangegetPoint (float image_x, float image_y) const
 Return the 3d point with range at the given image position.
PointWithRangegetPoint (float image_x, float image_y)
 Non-const-version of the above.
const PointWithRangegetPointNoCheck (int image_x, int image_y) const
 Return the 3D point with range at the given image position.
PointWithRangegetPointNoCheck (int image_x, int image_y)
 Non-const-version of getPointNoCheck.
void getPoint (int image_x, int image_y, Eigen::Vector3f &point) const
 Same as above.
void getPoint (int index, Eigen::Vector3f &point) const
 Same as above.
const Eigen::Map< const
Eigen::Vector3f > 
getEigenVector3f (int x, int y) const
 Same as above.
const Eigen::Map< const
Eigen::Vector3f > 
getEigenVector3f (int index) const
 Same as above.
const PointWithRangegetPoint (int index) const
 Return the 3d point with range at the given index (whereas index=y*width+x).
const PointWithRangegetPointConsideringWrapAround (int image_x, int image_y) const
 Return the 3d point with range at the given image point.
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.
void calculate3DPoint (float image_x, float image_y, PointWithRange &point) const
 Calculate the 3D point according to the given image point and the range value at the closest pixel.
virtual void calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f &point) const
 Calculate the 3D point according to the given image point and range.
void calculate3DPoint (float image_x, float image_y, Eigen::Vector3f &point) const
 Calculate the 3D point according to the given image point and the range value at the closest pixel.
PCL_EXPORTS void recalculate3DPointPositions ()
 Recalculate all 3D point positions according to their pixel position 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.
void getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y, float &range) const
 Same as above.
void getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y) const
 Same as above.
void getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y) const
 Same as above.
void getImagePoint (float x, float y, float z, float &image_x, float &image_y, float &range) const
 Same as above.
void getImagePoint (float x, float y, float z, float &image_x, float &image_y) const
 Same as above.
void getImagePoint (float x, float y, float z, int &image_x, int &image_y) const
 Same as above.
float checkPoint (const Eigen::Vector3f &point, PointWithRange &point_in_image) const
 point_in_image will be the point in the image at the position the given point would be.
float getRangeDifference (const Eigen::Vector3f &point) const
 Returns the difference in range between the given point and the range of the point in the image at the position the given point would be.
void getImagePointFromAngles (float angle_x, float angle_y, float &image_x, float &image_y) const
 Get the image point corresponding to the given angles.
void getAnglesFromImagePoint (float image_x, float image_y, float &angle_x, float &angle_y) const
 Get the angles corresponding to the given image point.
void real2DToInt2D (float x, float y, int &xInt, int &yInt) const
 Transforms an image point in float values to an image point in int values.
bool isInImage (int x, int y) const
 Check if a point is inside of the image.
bool isValid (int x, int y) const
 Check if a point is inside of the image and has a finite range.
bool isValid (int index) const
 Check if a point has a finite range.
bool isObserved (int x, int y) const
 Check if a point is inside of the image and has either a finite range or a max reading (range=INFINITY).
bool isMaxRange (int x, int y) const
 Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!
bool getNormal (int x, int y, int radius, Eigen::Vector3f &normal, int step_size=1) const
 Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius.
bool getNormalForClosestNeighbors (int x, int y, int radius, const PointWithRange &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, int step_size=1) const
 Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered.
bool getNormalForClosestNeighbors (int x, int y, int radius, const Eigen::Vector3f &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, Eigen::Vector3f *point_on_plane=NULL, int step_size=1) const
 Same as above.
bool getNormalForClosestNeighbors (int x, int y, Eigen::Vector3f &normal, int radius=2) const
 Same as above, using default values.
bool getSurfaceInformation (int x, int y, int radius, const Eigen::Vector3f &point, int no_of_closest_neighbors, int step_size, float &max_closest_neighbor_distance_squared, Eigen::Vector3f &normal, Eigen::Vector3f &mean, Eigen::Vector3f &eigen_values, Eigen::Vector3f *normal_all_neighbors=NULL, Eigen::Vector3f *mean_all_neighbors=NULL, Eigen::Vector3f *eigen_values_all_neighbors=NULL) const
 Same as above but extracts some more data and can also return the extracted information for all neighbors in radius if normal_all_neighbors is not NULL.
float getSquaredDistanceOfNthNeighbor (int x, int y, int radius, int n, int step_size) const
float getImpactAngle (const PointWithRange &point1, const PointWithRange &point2) const
 Calculate the impact angle based on the sensor position and the two given points - will return -INFINITY if one of the points is unobserved.
float getImpactAngle (int x1, int y1, int x2, int y2) const
 Same as above.
float getImpactAngleBasedOnLocalNormal (int x, int y, int radius) const
 Extract a local normal (with a heuristic not to include background points) and calculate the impact angle based on this.
PCL_EXPORTS float * getImpactAngleImageBasedOnLocalNormals (int radius) const
 Uses the above function for every point in the image.
float getNormalBasedAcutenessValue (int x, int y, int radius) const
 Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated.
float getAcutenessValue (const PointWithRange &point1, const PointWithRange &point2) const
 Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) will return -INFINITY if one of the points is unobserved.
float getAcutenessValue (int x1, int y1, int x2, int y2) const
 Same as above.
PCL_EXPORTS void getAcutenessValueImages (int pixel_distance, float *&acuteness_value_image_x, float *&acuteness_value_image_y) const
 Calculate getAcutenessValue for every point.
PCL_EXPORTS float getSurfaceChange (int x, int y, int radius) const
 Calculates, how much the surface changes at a point.
PCL_EXPORTS float * getSurfaceChangeImage (int radius) const
 Uses the above function for every point in the image.
void getSurfaceAngleChange (int x, int y, int radius, float &angle_change_x, float &angle_change_y) const
 Calculates, how much the surface changes at a point.
PCL_EXPORTS void getSurfaceAngleChangeImages (int radius, float *&angle_change_image_x, float *&angle_change_image_y) const
 Uses the above function for every point in the image.
float getCurvature (int x, int y, int radius, int step_size) const
 Calculates the curvature in a point using pca.
const Eigen::Vector3f getSensorPos () const
 Get the sensor position.
PCL_EXPORTS void setUnseenToMaxRange ()
 Sets all -INFINITY values to INFINITY.
int getImageOffsetX () const
 Getter for image_offset_x_.
int getImageOffsetY () const
 Getter for image_offset_y_.
void setImageOffsets (int offset_x, int offset_y)
 Setter for image offsets.
virtual 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
 Get a sub part of the complete image as a new range image.
virtual void getHalfImage (RangeImage &half_image) const
 Get a range image with half the resolution.
PCL_EXPORTS void getMinMaxRanges (float &min_range, float &max_range) const
 Find the minimum and maximum range in the image.
PCL_EXPORTS void change3dPointsToLocalCoordinateFrame ()
 This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame.
PCL_EXPORTS float * getInterpolatedSurfaceProjection (const Eigen::Affine3f &pose, int pixel_size, float world_size) const
 Calculate a range patch as the z values of the coordinate frame given by pose.
PCL_EXPORTS float * getInterpolatedSurfaceProjection (const Eigen::Vector3f &point, int pixel_size, float world_size) const
 Same as above, but using the local coordinate frame defined by point and the viewing direction.
Eigen::Affine3f getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point) const
 Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.
void getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
 Same as above, using a reference for the retrurn value.
void getRotationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
 Same as above, but only returning the rotation.
PCL_EXPORTS bool getNormalBasedUprightTransformation (const Eigen::Vector3f &point, float max_dist, Eigen::Affine3f &transformation) const
 Get a local coordinate frame at the given point based on the normal.
PCL_EXPORTS void getIntegralImage (float *&integral_image, int *&valid_points_num_image) const
 Get the integral image of the range values (used for fast blur operations).
PCL_EXPORTS void getBlurredImageUsingIntegralImage (int blur_radius, float *integral_image, int *valid_points_num_image, RangeImage &range_image) const
 Get a blurred version of the range image using box filters on the provided integral image.
PCL_EXPORTS void getBlurredImage (int blur_radius, RangeImage &range_image) const
 Get a blurred version of the range image using box filters.
float getEuclideanDistanceSquared (int x1, int y1, int x2, int y2) const
 Get the squared euclidean distance between the two image points.
float getAverageEuclideanDistance (int x, int y, int offset_x, int offset_y, int max_steps) const
 Doing the above for some steps in the given direction and averaging.
PCL_EXPORTS void getRangeImageWithSmoothedSurface (int radius, RangeImage &smoothed_range_image) const
 Project all points on the local plane approximation, thereby smoothing the surface of the scan.
void get1dPointAverage (int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &average_point) const
 Calculates the average 3D position of the no_of_points points described by the start point x,y in the direction delta.
PCL_EXPORTS Eigen::Affine3f doIcp (const VectorOfEigenVector3f &points, const Eigen::Affine3f &initial_guess, int search_radius, float max_distance_start, float max_distance_end, int num_iterations) const
 Perform ICP (Iterative closest point) on the given data.
bool getViewingDirection (int x, int y, Eigen::Vector3f &viewing_direction) const
 Get the viewing direction for the given point.
void getViewingDirection (const Eigen::Vector3f &point, Eigen::Vector3f &viewing_direction) const
 Get the viewing direction for the given point.
virtual RangeImagegetNew () const
 Return a newly created Range image.

Static Public Member Functions

static float getMaxAngleSize (const Eigen::Affine3f &viewer_pose, const Eigen::Vector3f &center, float radius)
 Get the size of a certain area when seen from the given pose.
static Eigen::Vector3f getEigenVector3f (const PointWithRange &point)
 Get Eigen::Vector3f from PointWithRange.
static PCL_EXPORTS void getCoordinateFrameTransformation (RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
 Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.
template<typename PointCloudTypeWithViewpoints >
static Eigen::Vector3f getAverageViewPoint (const PointCloudTypeWithViewpoints &point_cloud)
 Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z.
static PCL_EXPORTS void extractFarRanges (const sensor_msgs::PointCloud2 &point_cloud_data, PointCloud< PointWithViewpoint > &far_ranges)
 Check if the provided data includes far ranges and add them to far_ranges.

Static Public Attributes

static bool debug
 Just for...

Protected Member Functions

template<typename PointCloudType >
void doZBuffer (const PointCloudType &point_cloud, float noise_level, float min_range, int &top, int &right, int &bottom, int &left)

Static Protected Member Functions

static void createLookupTables ()
 Create lookup tables for trigonometric functions.
static float asinLookUp (float value)
 Query the asin lookup table.
static float atan2LookUp (float y, float x)
 Query the atan2 lookup table.
static float cosLookUp (float value)
 Query the cos lookup table.

Protected Attributes

Eigen::Affine3f to_range_image_system_
 Inverse of to_world_system_.
Eigen::Affine3f to_world_system_
 Inverse of to_range_image_system_.
float angular_resolution_
 Angular resolution of the range image in radians per pixel.
float angular_resolution_reciprocal_
 1.0/angular_resolution - provided for better performace of multiplication compared to division
int image_offset_x_
int image_offset_y_
 Position of the top left corner of the range image compared to an image of full size (360x180 degrees).
PointWithRange unobserved_point
 This point is used to be able to return a reference to a non-existing point.

Static Protected Attributes

static const int lookup_table_size
static std::vector< float > asin_lookup_table
static std::vector< float > atan_lookup_table
static std::vector< float > cos_lookup_table

Detailed Description

RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where a 3D scene was captured from a specific view point.

Author:
Bastian Steder

Definition at line 56 of file range_image.h.


Member Typedef Documentation

Reimplemented in pcl::RangeImagePlanar.

Definition at line 60 of file range_image.h.

typedef boost::shared_ptr<const RangeImage> pcl::RangeImage::ConstPtr

Reimplemented from pcl::PointCloud< PointWithRange >.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 63 of file range_image.h.

typedef boost::shared_ptr<RangeImage> pcl::RangeImage::Ptr

Reimplemented from pcl::PointCloud< PointWithRange >.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 62 of file range_image.h.

typedef std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::RangeImage::VectorOfEigenVector3f

Definition at line 61 of file range_image.h.


Member Enumeration Documentation

Enumerator:
CAMERA_FRAME 
LASER_FRAME 

Definition at line 65 of file range_image.h.


Constructor & Destructor Documentation

PCL_EXPORTS pcl::RangeImage::RangeImage (  ) 

Constructor.

PCL_EXPORTS pcl::RangeImage::~RangeImage (  ) 

Destructor.


Member Function Documentation

float pcl::RangeImage::asinLookUp ( float  value  )  [inline, static, protected]

Query the asin lookup table.

Definition at line 44 of file range_image.hpp.

float pcl::RangeImage::atan2LookUp ( float  y,
float  x 
) [inline, static, protected]

Query the atan2 lookup table.

Definition at line 53 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint ( float  image_x,
float  image_y,
PointWithRange point 
) const [inline]

Calculate the 3D point according to the given image point and the range value at the closest pixel.

Definition at line 570 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint ( float  image_x,
float  image_y,
float  range,
Eigen::Vector3f &  point 
) const [inline, virtual]

Calculate the 3D point according to the given image point and range.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 540 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint ( float  image_x,
float  image_y,
Eigen::Vector3f &  point 
) const [inline]

Calculate the 3D point according to the given image point and the range value at the closest pixel.

Definition at line 553 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint ( float  image_x,
float  image_y,
float  range,
PointWithRange point 
) const [inline]

Calculate the 3D point according to the given image point and range.

Definition at line 561 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::change3dPointsToLocalCoordinateFrame (  ) 

This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame.

float pcl::RangeImage::checkPoint ( const Eigen::Vector3f &  point,
PointWithRange point_in_image 
) const [inline]

point_in_image will be the point in the image at the position the given point would be.

Returns the range of the given point.

Definition at line 349 of file range_image.hpp.

float pcl::RangeImage::cosLookUp ( float  value  )  [inline, static, protected]

Query the cos lookup table.

Definition at line 78 of file range_image.hpp.

template<typename PointCloudType >
void pcl::RangeImage::createFromPointCloud ( const PointCloudType &  point_cloud,
float  angular_resolution,
float  max_angle_width,
float  max_angle_height,
const Eigen::Affine3f &  sensor_pose,
RangeImage::CoordinateFrame  coordinate_frame = CAMERA_FRAME,
float  noise_level = 0.0f,
float  min_range = 0.0f,
int  border_size = 0 
)

Create the depth image from a point cloud.

Parameters:
point_cloud the input point cloud
angular_resolution the angle between each sample in the depth image
max_angle_width an angle defining the horizontal bounds of the sensor
max_angle_height an angle defining the vertical bounds of the sensor
sensor_pose an affine matrix defining the pose of the sensor
coordinate_frame the coordinate frame (defaults to CAMERA_FRAME)
noise_level - The distance in meters inside of which the z-buffer will not use the minimum, 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.
min_range the minimum visible range (defaults to 0)
border_size the border size (defaults to 0)

Definition at line 93 of file range_image.hpp.

template<typename PointCloudType >
void pcl::RangeImage::createFromPointCloudWithKnownSize ( const PointCloudType &  point_cloud,
float  angular_resolution,
const Eigen::Vector3f &  point_cloud_center,
float  point_cloud_radius,
const Eigen::Affine3f &  sensor_pose,
RangeImage::CoordinateFrame  coordinate_frame = CAMERA_FRAME,
float  noise_level = 0.0f,
float  min_range = 0.0f,
int  border_size = 0 
)

Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.

Parameters:
point_cloud the input point cloud
angular_resolution the angle between each sample in the depth image
point_cloud_center the center of bounding sphere
point_cloud_radius the radius of the bounding sphere
sensor_pose an affine matrix defining the pose of the sensor
coordinate_frame the coordinate frame (defaults to CAMERA_FRAME)
noise_level - The distance in meters inside of which the z-buffer will not use the minimum, 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.
min_range the minimum visible range (defaults to 0)
border_size the border size (defaults to 0)

Definition at line 145 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >
void pcl::RangeImage::createFromPointCloudWithViewpoints ( const PointCloudTypeWithViewpoints &  point_cloud,
float  angular_resolution,
float  max_angle_width,
float  max_angle_height,
RangeImage::CoordinateFrame  coordinate_frame = CAMERA_FRAME,
float  noise_level = 0.0f,
float  min_range = 0.0f,
int  border_size = 0 
)

Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).

Parameters:
point_cloud the input point cloud
angular_resolution the angle between each sample in the depth image
max_angle_width an angle defining the horizontal bounds of the sensor
max_angle_height an angle defining the vertical bounds of the sensor
coordinate_frame the coordinate frame (defaults to CAMERA_FRAME)
noise_level - The distance in meters inside of which the z-buffer will not use the minimum, 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.
min_range the minimum visible range (defaults to 0)
border_size the border size (defaults to 0)
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)

Definition at line 130 of file range_image.hpp.

static void pcl::RangeImage::createLookupTables (  )  [static, protected]

Create lookup tables for trigonometric functions.

PCL_EXPORTS void pcl::RangeImage::cropImage ( int  border_size = 0,
int  top = -1,
int  right = -1,
int  bottom = -1,
int  left = -1 
)

Cut the range image to the minimal size so that it still contains all actual range readings.

Parameters:
border_size allows increase from the minimal size by the specified number of pixels (defaults to 0)
top if positive, this value overrides the position of the top edge (defaults to -1)
right if positive, this value overrides the position of the right edge (defaults to -1)
bottom if positive, this value overrides the position of the bottom edge (defaults to -1)
left if positive, this value overrides the position of the left edge (defaults to -1)
PCL_EXPORTS Eigen::Affine3f pcl::RangeImage::doIcp ( const VectorOfEigenVector3f points,
const Eigen::Affine3f &  initial_guess,
int  search_radius,
float  max_distance_start,
float  max_distance_end,
int  num_iterations 
) const

Perform ICP (Iterative closest point) on the given data.

template<typename PointCloudType >
void pcl::RangeImage::doZBuffer ( const PointCloudType &  point_cloud,
float  noise_level,
float  min_range,
int &  top,
int &  right,
int &  bottom,
int &  left 
) [protected]

Definition at line 188 of file range_image.hpp.

static PCL_EXPORTS void pcl::RangeImage::extractFarRanges ( const sensor_msgs::PointCloud2 point_cloud_data,
PointCloud< PointWithViewpoint > &  far_ranges 
) [static]

Check if the provided data includes far ranges and add them to far_ranges.

Parameters:
point_cloud_data a PointCloud2 message containing the input cloud
far_ranges the resulting cloud containing those points with far ranges
void pcl::RangeImage::get1dPointAverage ( int  x,
int  y,
int  delta_x,
int  delta_y,
int  no_of_points,
PointWithRange average_point 
) const [inline]

Calculates the average 3D position of the no_of_points points described by the start point x,y in the direction delta.

Returns a max range point (range=INFINITY) if the first point is max range and an unobserved point (range=-INFINITY) if non of the points is observed.

Definition at line 776 of file range_image.hpp.

float pcl::RangeImage::getAcutenessValue ( const PointWithRange point1,
const PointWithRange point2 
) const [inline]

Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) will return -INFINITY if one of the points is unobserved.

Definition at line 626 of file range_image.hpp.

float pcl::RangeImage::getAcutenessValue ( int  x1,
int  y1,
int  x2,
int  y2 
) const [inline]

Same as above.

Definition at line 641 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getAcutenessValueImages ( int  pixel_distance,
float *&  acuteness_value_image_x,
float *&  acuteness_value_image_y 
) const

Calculate getAcutenessValue for every point.

void pcl::RangeImage::getAnglesFromImagePoint ( float  image_x,
float  image_y,
float &  angle_x,
float &  angle_y 
) const [inline]

Get the angles corresponding to the given image point.

Definition at line 578 of file range_image.hpp.

float pcl::RangeImage::getAngularResolution (  )  const [inline]

Getter for the angular resolution of the range image in radians per pixel.

Definition at line 226 of file range_image.h.

float pcl::RangeImage::getAverageEuclideanDistance ( int  x,
int  y,
int  offset_x,
int  offset_y,
int  max_steps 
) const [inline]

Doing the above for some steps in the given direction and averaging.

Definition at line 831 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >
Eigen::Vector3f pcl::RangeImage::getAverageViewPoint ( const PointCloudTypeWithViewpoints &  point_cloud  )  [static]

Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z.

Parameters:
point_cloud the input point cloud
Returns:
the average viewpoint (as an Eigen::Vector3f)

Definition at line 1099 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getBlurredImage ( int  blur_radius,
RangeImage range_image 
) const

Get a blurred version of the range image using box filters.

PCL_EXPORTS void pcl::RangeImage::getBlurredImageUsingIntegralImage ( int  blur_radius,
float *  integral_image,
int *  valid_points_num_image,
RangeImage range_image 
) const

Get a blurred version of the range image using box filters on the provided integral image.

static PCL_EXPORTS void pcl::RangeImage::getCoordinateFrameTransformation ( RangeImage::CoordinateFrame  coordinate_frame,
Eigen::Affine3f &  transformation 
) [static]

Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.

Parameters:
coordinate_frame the input coordinate frame
transformation the resulting transformation that warps coordinate_frame into CAMERA_FRAME
float pcl::RangeImage::getCurvature ( int  x,
int  y,
int  radius,
int  step_size 
) const [inline]

Calculates the curvature in a point using pca.

Definition at line 1074 of file range_image.hpp.

Eigen::Vector3f pcl::RangeImage::getEigenVector3f ( const PointWithRange point  )  [inline, static]

Get Eigen::Vector3f from PointWithRange.

Parameters:
point the input point
Returns:
an Eigen::Vector3f representation of the input point

Definition at line 769 of file range_image.hpp.

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f ( int  x,
int  y 
) const [inline]

Same as above.

Definition at line 526 of file range_image.hpp.

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f ( int  index  )  const [inline]

Same as above.

Definition at line 533 of file range_image.hpp.

float pcl::RangeImage::getEuclideanDistanceSquared ( int  x1,
int  y1,
int  x2,
int  y2 
) const [inline]

Get the squared euclidean distance between the two image points.

Returns -INFINITY if one of the points was not observed

Definition at line 816 of file range_image.hpp.

virtual void pcl::RangeImage::getHalfImage ( RangeImage half_image  )  const [virtual]

Get a range image with half the resolution.

Reimplemented in pcl::RangeImagePlanar.

int pcl::RangeImage::getImageOffsetX (  )  const [inline]

Getter for image_offset_x_.

Definition at line 493 of file range_image.h.

int pcl::RangeImage::getImageOffsetY (  )  const [inline]

Getter for image_offset_y_.

Definition at line 496 of file range_image.h.

void pcl::RangeImage::getImagePoint ( const Eigen::Vector3f &  point,
float &  image_x,
float &  image_y,
float &  range 
) const [inline, virtual]

Get imagePoint from 3D point in world coordinates.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 310 of file range_image.hpp.

void pcl::RangeImage::getImagePoint ( const Eigen::Vector3f &  point,
int &  image_x,
int &  image_y,
float &  range 
) const [inline]

Same as above.

Definition at line 324 of file range_image.hpp.

void pcl::RangeImage::getImagePoint ( const Eigen::Vector3f &  point,
float &  image_x,
float &  image_y 
) const [inline]

Same as above.

Definition at line 332 of file range_image.hpp.

void pcl::RangeImage::getImagePoint ( const Eigen::Vector3f &  point,
int &  image_x,
int &  image_y 
) const [inline]

Same as above.

Definition at line 340 of file range_image.hpp.

void pcl::RangeImage::getImagePoint ( float  x,
float  y,
float  z,
float &  image_x,
float &  image_y,
float &  range 
) const [inline]

Same as above.

Definition at line 285 of file range_image.hpp.

void pcl::RangeImage::getImagePoint ( float  x,
float  y,
float  z,
float &  image_x,
float &  image_y 
) const [inline]

Same as above.

Definition at line 293 of file range_image.hpp.

void pcl::RangeImage::getImagePoint ( float  x,
float  y,
float  z,
int &  image_x,
int &  image_y 
) const [inline]

Same as above.

Definition at line 301 of file range_image.hpp.

void pcl::RangeImage::getImagePointFromAngles ( float  angle_x,
float  angle_y,
float &  image_x,
float &  image_y 
) const [inline]

Get the image point corresponding to the given angles.

Definition at line 383 of file range_image.hpp.

float pcl::RangeImage::getImpactAngle ( const PointWithRange point1,
const PointWithRange point2 
) const [inline]

Calculate the impact angle based on the sensor position and the two given points - will return -INFINITY if one of the points is unobserved.

Definition at line 596 of file range_image.hpp.

float pcl::RangeImage::getImpactAngle ( int  x1,
int  y1,
int  x2,
int  y2 
) const [inline]

Same as above.

Definition at line 587 of file range_image.hpp.

float pcl::RangeImage::getImpactAngleBasedOnLocalNormal ( int  x,
int  y,
int  radius 
) const [inline]

Extract a local normal (with a heuristic not to include background points) and calculate the impact angle based on this.

Definition at line 859 of file range_image.hpp.

PCL_EXPORTS float* pcl::RangeImage::getImpactAngleImageBasedOnLocalNormals ( int  radius  )  const

Uses the above function for every point in the image.

PCL_EXPORTS void pcl::RangeImage::getIntegralImage ( float *&  integral_image,
int *&  valid_points_num_image 
) const

Get the integral image of the range values (used for fast blur operations).

You are responsible for deleting it after usage!

PCL_EXPORTS float* pcl::RangeImage::getInterpolatedSurfaceProjection ( const Eigen::Affine3f &  pose,
int  pixel_size,
float  world_size 
) const

Calculate a range patch as the z values of the coordinate frame given by pose.

The patch will have size pixel_size x pixel_size and each pixel covers world_size/pixel_size meters in the world You are responsible for deleting the structure afterwards!

PCL_EXPORTS float* pcl::RangeImage::getInterpolatedSurfaceProjection ( const Eigen::Vector3f &  point,
int  pixel_size,
float  world_size 
) const

Same as above, but using the local coordinate frame defined by point and the viewing direction.

float pcl::RangeImage::getMaxAngleSize ( const Eigen::Affine3f &  viewer_pose,
const Eigen::Vector3f &  center,
float  radius 
) [inline, static]

Get the size of a certain area when seen from the given pose.

Parameters:
viewer_pose an affine matrix defining the pose of the viewer
center the center of the area
radius the radius of the area
Returns:
the size of the area as viewed according to viewer_pose

Definition at line 762 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getMinMaxRanges ( float &  min_range,
float &  max_range 
) const

Find the minimum and maximum range in the image.

virtual RangeImage* pcl::RangeImage::getNew (  )  const [inline, virtual]

Return a newly created Range image.

Can be reimplmented int derived classes like RangeImagePlanar to return an image of the same type.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 612 of file range_image.h.

bool pcl::RangeImage::getNormal ( int  x,
int  y,
int  radius,
Eigen::Vector3f &  normal,
int  step_size = 1 
) const [inline]

Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius.

step_size determines how many pixels are used. 1 means all, 2 only every second, etc.. Returns false if it was unable to calculate a normal.

Definition at line 874 of file range_image.hpp.

float pcl::RangeImage::getNormalBasedAcutenessValue ( int  x,
int  y,
int  radius 
) const [inline]

Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated.

Definition at line 900 of file range_image.hpp.

PCL_EXPORTS bool pcl::RangeImage::getNormalBasedUprightTransformation ( const Eigen::Vector3f &  point,
float  max_dist,
Eigen::Affine3f &  transformation 
) const

Get a local coordinate frame at the given point based on the normal.

bool pcl::RangeImage::getNormalForClosestNeighbors ( int  x,
int  y,
int  radius,
const PointWithRange point,
int  no_of_nearest_neighbors,
Eigen::Vector3f &  normal,
int  step_size = 1 
) const [inline]

Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered.

Definition at line 912 of file range_image.hpp.

bool pcl::RangeImage::getNormalForClosestNeighbors ( int  x,
int  y,
int  radius,
const Eigen::Vector3f &  point,
int  no_of_nearest_neighbors,
Eigen::Vector3f &  normal,
Eigen::Vector3f *  point_on_plane = NULL,
int  step_size = 1 
) const [inline]

Same as above.

Definition at line 1055 of file range_image.hpp.

bool pcl::RangeImage::getNormalForClosestNeighbors ( int  x,
int  y,
Eigen::Vector3f &  normal,
int  radius = 2 
) const [inline]

Same as above, using default values.

Definition at line 920 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPoint ( float  image_x,
float  image_y 
) [inline]

Non-const-version of the above.

Definition at line 504 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPoint ( int  image_x,
int  image_y 
) [inline]

Non-const-version of getPoint.

Definition at line 480 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPoint ( int  image_x,
int  image_y 
) const [inline]

Return the 3D point with range at the given image position.

Parameters:
image_x the x coordinate
image_y the y coordinate
Returns:
the point at the specified location (returns unobserved_point if outside of the image bounds)

Definition at line 457 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPoint ( float  image_x,
float  image_y 
) const [inline]

Return the 3d point with range at the given image position.

Definition at line 495 of file range_image.hpp.

void pcl::RangeImage::getPoint ( int  index,
Eigen::Vector3f &  point 
) const [inline]

Same as above.

Definition at line 519 of file range_image.hpp.

void pcl::RangeImage::getPoint ( int  image_x,
int  image_y,
Eigen::Vector3f &  point 
) const [inline]

Same as above.

Definition at line 511 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPoint ( int  index  )  const [inline]

Return the 3d point with range at the given index (whereas index=y*width+x).

Definition at line 488 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPointConsideringWrapAround ( int  image_x,
int  image_y 
) const [inline]

Return the 3d point with range at the given image point.

Additionally, if the given point is not an observed point if there might be a wrap around, e.g., we left the ride side of thed image and reentered on the left side (which might be the case in a 360deg 3D scan when we look at the local neighborhood of a point)

Definition at line 436 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPointNoCheck ( int  image_x,
int  image_y 
) const [inline]

Return the 3D point with range at the given image position.

This methd performs no error checking to make sure the specified image position is inside of the image!

Parameters:
image_x the x coordinate
image_y the y coordinate
Returns:
the point at the specified location (program may fail if the location is outside of the image bounds)

Definition at line 466 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPointNoCheck ( int  image_x,
int  image_y 
) [inline]

Non-const-version of getPointNoCheck.

Definition at line 473 of file range_image.hpp.

float pcl::RangeImage::getRangeDifference ( const Eigen::Vector3f &  point  )  const [inline]

Returns the difference in range between the given point and the range of the point in the image at the position the given point would be.

(Return value is point_in_image.range-given_point.range)

Definition at line 363 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getRangeImageWithSmoothedSurface ( int  radius,
RangeImage smoothed_range_image 
) const

Project all points on the local plane approximation, thereby smoothing the surface of the scan.

PCL_EXPORTS float* pcl::RangeImage::getRangesArray (  )  const

Get all the range values in one float array of size width*height.

Returns:
a pointer to a new float array containing the range values
Note:
This method allocates a new float array; the caller is responsible for freeing this memory.
void pcl::RangeImage::getRotationToViewerCoordinateFrame ( const Eigen::Vector3f &  point,
Eigen::Affine3f &  transformation 
) const [inline]

Same as above, but only returning the rotation.

Definition at line 1154 of file range_image.hpp.

const Eigen::Vector3f pcl::RangeImage::getSensorPos (  )  const [inline]

Get the sensor position.

Definition at line 650 of file range_image.hpp.

float pcl::RangeImage::getSquaredDistanceOfNthNeighbor ( int  x,
int  y,
int  radius,
int  n,
int  step_size 
) const [inline]

Definition at line 1026 of file range_image.hpp.

virtual void pcl::RangeImage::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 [virtual]

Get a sub part of the complete image as a new range image.

Parameters:
sub_image_image_offset_x - The x coordinate of the top left pixel of the sub image. This is always according to absolute 0,0 meaning -180°,-90° and it is already in the system of the new image, so the actual pixel used in the original image is combine_pixels*(image_offset_x-image_offset_x_)
sub_image_image_offset_y - Same as image_offset_x for the y coordinate
sub_image_width - width of the new image
sub_image_height - height of the new image
combine_pixels - shrinking factor, meaning the new angular resolution is combine_pixels times the old one
sub_image - the output image

Reimplemented in pcl::RangeImagePlanar.

void pcl::RangeImage::getSurfaceAngleChange ( int  x,
int  y,
int  radius,
float &  angle_change_x,
float &  angle_change_y 
) const [inline]

Calculates, how much the surface changes at a point.

Returns an angle [0.0f, PI] for x and y direction. A return value of -INFINITY means that a point was unobserved.

Definition at line 657 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getSurfaceAngleChangeImages ( int  radius,
float *&  angle_change_image_x,
float *&  angle_change_image_y 
) const

Uses the above function for every point in the image.

PCL_EXPORTS float pcl::RangeImage::getSurfaceChange ( int  x,
int  y,
int  radius 
) const

Calculates, how much the surface changes at a point.

Pi meaning a flat suface and 0.0f would be a needle point Calculates, how much the surface changes at a point. 1 meaning a 90deg angle and 0 a flat suface

PCL_EXPORTS float* pcl::RangeImage::getSurfaceChangeImage ( int  radius  )  const

Uses the above function for every point in the image.

bool pcl::RangeImage::getSurfaceInformation ( int  x,
int  y,
int  radius,
const Eigen::Vector3f &  point,
int  no_of_closest_neighbors,
int  step_size,
float &  max_closest_neighbor_distance_squared,
Eigen::Vector3f &  normal,
Eigen::Vector3f &  mean,
Eigen::Vector3f &  eigen_values,
Eigen::Vector3f *  normal_all_neighbors = NULL,
Eigen::Vector3f *  mean_all_neighbors = NULL,
Eigen::Vector3f *  eigen_values_all_neighbors = NULL 
) const [inline]

Same as above but extracts some more data and can also return the extracted information for all neighbors in radius if normal_all_neighbors is not NULL.

Definition at line 940 of file range_image.hpp.

Eigen::Affine3f& pcl::RangeImage::getTransformationToRangeImageSystem (  )  [inline]

Getter for the transformation from the world system into the range image system (the sensor coordinate frame).

Definition at line 212 of file range_image.h.

void pcl::RangeImage::getTransformationToViewerCoordinateFrame ( const Eigen::Vector3f &  point,
Eigen::Affine3f &  transformation 
) const [inline]

Same as above, using a reference for the retrurn value.

Definition at line 1146 of file range_image.hpp.

Eigen::Affine3f pcl::RangeImage::getTransformationToViewerCoordinateFrame ( const Eigen::Vector3f &  point  )  const [inline]

Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.

Definition at line 1137 of file range_image.hpp.

const Eigen::Affine3f& pcl::RangeImage::getTransformationToWorldSystem (  )  const [inline]

Getter for the transformation from the range image system (the sensor coordinate frame) into the world system.

Definition at line 222 of file range_image.h.

void pcl::RangeImage::getViewingDirection ( const Eigen::Vector3f &  point,
Eigen::Vector3f &  viewing_direction 
) const [inline]

Get the viewing direction for the given point.

Definition at line 1130 of file range_image.hpp.

bool pcl::RangeImage::getViewingDirection ( int  x,
int  y,
Eigen::Vector3f &  viewing_direction 
) const [inline]

Get the viewing direction for the given point.

Definition at line 1120 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::integrateFarRanges ( const PointCloud< PointWithViewpoint > &  far_ranges  ) 
bool pcl::RangeImage::isInImage ( int  x,
int  y 
) const [inline]

Check if a point is inside of the image.

Definition at line 398 of file range_image.hpp.

bool pcl::RangeImage::isMaxRange ( int  x,
int  y 
) const [inline]

Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!

Definition at line 428 of file range_image.hpp.

bool pcl::RangeImage::isObserved ( int  x,
int  y 
) const [inline]

Check if a point is inside of the image and has either a finite range or a max reading (range=INFINITY).

Definition at line 419 of file range_image.hpp.

bool pcl::RangeImage::isValid ( int  x,
int  y 
) const [inline]

Check if a point is inside of the image and has a finite range.

Definition at line 405 of file range_image.hpp.

bool pcl::RangeImage::isValid ( int  index  )  const [inline]

Check if a point has a finite range.

Definition at line 412 of file range_image.hpp.

Ptr pcl::RangeImage::makeShared (  )  [inline]

Get a boost shared pointer of a copy of this.

Reimplemented from pcl::PointCloud< PointWithRange >.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 122 of file range_image.h.

void pcl::RangeImage::real2DToInt2D ( float  x,
float  y,
int &  xInt,
int &  yInt 
) const [inline]

Transforms an image point in float values to an image point in int values.

Definition at line 391 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::recalculate3DPointPositions (  ) 

Recalculate all 3D point positions according to their pixel position and range.

PCL_EXPORTS void pcl::RangeImage::reset (  ) 

Reset all values to an empty range image.

void pcl::RangeImage::setAngularResolution ( float  angular_resolution  )  [inline]

Set the angular resolution of the range image.

Parameters:
angular_resolution the new angular resolution (in radians per pixel)

Definition at line 1162 of file range_image.hpp.

void pcl::RangeImage::setImageOffsets ( int  offset_x,
int  offset_y 
) [inline]

Setter for image offsets.

Definition at line 500 of file range_image.h.

void pcl::RangeImage::setTransformationToRangeImageSystem ( const Eigen::Affine3f &  to_range_image_system  )  [inline]

Setter for the transformation from the range image system (the sensor coordinate frame) into the world system.

Definition at line 1169 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::setUnseenToMaxRange (  ) 

Sets all -INFINITY values to INFINITY.


Member Data Documentation

Angular resolution of the range image in radians per pixel.

Definition at line 629 of file range_image.h.

1.0/angular_resolution - provided for better performace of multiplication compared to division

Definition at line 630 of file range_image.h.

std::vector<float> pcl::RangeImage::asin_lookup_table [static, protected]

Definition at line 645 of file range_image.h.

std::vector<float> pcl::RangeImage::atan_lookup_table [static, protected]

Definition at line 646 of file range_image.h.

std::vector<float> pcl::RangeImage::cos_lookup_table [static, protected]

Definition at line 647 of file range_image.h.

bool pcl::RangeImage::debug [static]

Just for...

well... debugging purposes. :-)

Definition at line 623 of file range_image.h.

Definition at line 632 of file range_image.h.

Position of the top left corner of the range image compared to an image of full size (360x180 degrees).

Definition at line 632 of file range_image.h.

const int pcl::RangeImage::lookup_table_size [static, protected]

Definition at line 644 of file range_image.h.

Eigen::Affine3f pcl::RangeImage::to_range_image_system_ [protected]

Inverse of to_world_system_.

Definition at line 627 of file range_image.h.

Eigen::Affine3f pcl::RangeImage::to_world_system_ [protected]

Inverse of to_range_image_system_.

Definition at line 628 of file range_image.h.

This point is used to be able to return a reference to a non-existing point.

Definition at line 634 of file range_image.h.


The documentation for this class was generated from the following files: