Point Cloud Library (PCL)  1.9.1-dev
range_image_planar.h
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37 
38 #pragma once
39 
40 #include <pcl/range_image/range_image.h>
41 
42 namespace 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 = boost::shared_ptr<RangeImagePlanar>;
57  using ConstPtr = boost::shared_ptr<const RangeImagePlanar>;
58 
59  // =====CONSTRUCTOR & DESTRUCTOR=====
60  /** Constructor */
62  /** Destructor */
64 
65  /** Return a newly created RangeImagePlanar.
66  * Reimplementation to return an image of the same type. */
67  RangeImage*
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
boost::shared_ptr< RangeImagePlanar > Ptr
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.
PCL_EXPORTS void getHalfImage(RangeImage &half_image) const override
Get a range image with half the resolution.
float getFocalLengthX() const
Getter for the focal length in X.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:54
float getCenterX() const
Getter for the principal point in X.
boost::shared_ptr< RangeImage > Ptr
Definition: range_image.h:60
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
PCL_EXPORTS RangeImagePlanar()
Constructor.
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.
float center_y_
The principle point of the image.
RangeImage * getNew() const override
Return a newly created RangeImagePlanar.
float getFocalLengthY() const
Getter for the focal length in Y.
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.
float getCenterY() const
Getter for the principal point in Y.
boost::shared_ptr< const RangeImage > ConstPtr
Definition: range_image.h:61
Ptr makeShared()
Get a boost shared pointer of a copy of this.
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.
float focal_length_y_reciprocal_
1/focal_length -> for internal use
float focal_length_y_
The focal length of the image in pixels.
PCL_EXPORTS ~RangeImagePlanar()
Destructor.
PCL_EXPORTS RangeImage()
Constructor.
PCL_EXPORTS void copyTo(RangeImage &other) const override
Copy *this to other.
#define PCL_EXPORTS
Definition: pcl_macros.h:241
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.
RangeImagePlanar is derived from the original range image and differs from it because it&#39;s not a sphe...
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.