pcl::RangeImagePlanar Class Reference

RangeImagePlanar is derived from the original range image and differs from it because it's not a spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable for range sensors that already provide a range image by themselves (stereo cameras, kinect, ToF-cameras), so that a conversion to point cloud and then to a spherical range image becomes unnecessary. More...

#include <range_image_planar.h>

Inheritance diagram for pcl::RangeImagePlanar:

[legend]

List of all members.

Public Types
typedef RangeImage	BaseClass
Public Member Functions
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.
template<typename PointCloudType >
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)
virtual void	getHalfImage (RangeImage &half_image) const
	Get a range image with half the resolution.
virtual void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
	Calculate the image point and range from the given 3D point.
virtual RangeImage *	getNew () const
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
	RangeImagePlanar ()
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)
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.
	~RangeImagePlanar ()
Protected Attributes
float	center_x_
float	center_y_
	The principle point of the image.
float	focal_length_x_
float	focal_length_x_reciprocal_
float	focal_length_y_
	The focal length of the image in pixels.
float	focal_length_y_reciprocal_
	1/focal_length -> for internal use

Detailed Description

RangeImagePlanar is derived from the original range image and differs from it because it's not a spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable for range sensors that already provide a range image by themselves (stereo cameras, kinect, ToF-cameras), so that a conversion to point cloud and then to a spherical range image becomes unnecessary.

Author:: Bastian Steder

Definition at line 53 of file range_image_planar.h.

Member Typedef Documentation

typedef RangeImage pcl::RangeImagePlanar::BaseClass

Reimplemented from pcl::RangeImage.

Definition at line 57 of file range_image_planar.h.

Constructor & Destructor Documentation

pcl::RangeImagePlanar::RangeImagePlanar ( )

Constructor

Definition at line 47 of file range_image_planar.cpp.

pcl::RangeImagePlanar::~RangeImagePlanar ( )

Destructor

Definition at line 54 of file range_image_planar.cpp.

Member Function Documentation

void pcl::RangeImagePlanar::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.

Parameters:

	image_x	the x image position
	image_y	the y image position
	range	the range
	point	the resulting 3D point

Note:: Implementation according to planar range images (compared to spherical as in the original)

Reimplemented from pcl::RangeImage.

Definition at line 88 of file range_image_planar.hpp.

template<typename PointCloudType >

void pcl::RangeImagePlanar::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`
	)			`[inline]`

Create the image from an existing point cloud.

Parameters:

	point_cloud	the source point cloud
	di_width	the disparity image width
	di_height	the disparity image height
	di_center_x	the x-coordinate of the camera's center of projection
	di_center_y	the y-coordinate of the camera's center of projection
	di_focal_length_x	the camera's focal length in the horizontal direction
	di_focal_length_y	the camera's focal length in the vertical direction
	sensor_pose	the pose of the virtual depth camera
	coordinate_frame	the used coordinate frame of the point cloud
	noise_level	what is the typical noise of the sensor - is used for averaging in the z-buffer
	min_range	minimum range to consifder points

Definition at line 46 of file range_image_planar.hpp.

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

Get a range image with half the resolution.

Reimplemented from pcl::RangeImage.

Definition at line 170 of file range_image_planar.cpp.

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

Calculate the image point and range from the given 3D point.

Parameters:

	point	the resulting 3D point
	image_x	the resulting x image position
	image_y	the resulting y image position
	range	the resulting range

Note:: Implementation according to planar range images (compared to spherical as in the original)

Reimplemented from pcl::RangeImage.

Definition at line 101 of file range_image_planar.hpp.

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

Return a newly created RangeImagePlanar. Reimplmentation to return an image of the same type.

Reimplemented from pcl::RangeImage.

Definition at line 67 of file range_image_planar.h.

void pcl::RangeImagePlanar::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 from pcl::RangeImage.

Definition at line 191 of file range_image_planar.cpp.

void pcl::RangeImagePlanar::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.

Parameters:

	depth_image	the input disparity image data
	di_width	the disparity image width
	di_height	the disparity image height
	di_center_x	the x-coordinate of the camera's center of projection
	di_center_y	the y-coordinate of the camera's center of projection
	di_focal_length_x	the camera's focal length in the horizontal direction
	di_focal_length_y	the camera's focal length in the vertical direction
	desired_angular_resolution	If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel.

Definition at line 120 of file range_image_planar.cpp.

void pcl::RangeImagePlanar::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.

Parameters:

	disparity_image	the input disparity image data
	di_width	the disparity image width
	di_height	the disparity image height
	focal_length	the focal length of the primary camera that generated the disparity image
	base_line	the baseline of the stereo pair that generated the disparity image
	desired_angular_resolution	If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel.