Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background. More...

#include <range_image_border_extractor.h>

Inheritance diagram for pcl::RangeImageBorderExtractor:

[legend]

List of all members.

Classes
struct	LocalSurface
	Stores some information extracted from the neighborhood of a point. More...
struct	Parameters
	Parameters used in this class. More...
struct	ShadowBorderIndices
	Stores the indices of the shadow border corresponding to obstacle borders. More...
Public Types
typedef Feature < PointWithRange, BorderDescription >	BaseClass
Public Member Functions
void	clearData ()
	Erase all data calculated for the current range image.
void	compute (PointCloudOut &output)
float *	getAnglesImageForBorderDirections ()
	Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.
float *	getAnglesImageForSurfaceChangeDirections ()
	Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.
PointCloudOut &	getBorderDescriptions ()
Eigen::Vector3f **	getBorderDirections ()
float *	getBorderScoresBottom ()
float *	getBorderScoresLeft ()
float *	getBorderScoresRight ()
float *	getBorderScoresTop ()
Parameters &	getParameters ()
const RangeImage &	getRangeImage () const
ShadowBorderIndices **	getShadowBorderInformations ()
Eigen::Vector3f *	getSurfaceChangeDirections ()
float *	getSurfaceChangeScores ()
LocalSurface **	getSurfaceStructure ()
bool	hasRangeImage () const
	RangeImageBorderExtractor (const RangeImage *range_image=NULL)
void	setRangeImage (const RangeImage *range_image)
	Provide a pointer to the range image.
	~RangeImageBorderExtractor ()
Static Public Member Functions
static float	getObstacleBorderAngle (const BorderTraits &border_traits)
	Take the information from BorderTraits to calculate the local direction of the border.
Protected Member Functions
void	blurSurfaceChanges ()
	Apply a blur to the surface change images.
void	calculateBorderDirection (int x, int y)
	Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle)
void	calculateBorderDirections ()
	Call calculateBorderDirection for every point and average the result over parameters_.pixel_radius_border_direction.
bool	calculateMainPrincipalCurvature (int x, int y, int radius, float &magnitude, Eigen::Vector3f &main_direction) const
	Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point.
void	calculateSurfaceChanges ()
	Uses either the border or principal curvature to define a score how much the surface changes in a point (1 for a border) and what the main direction of that change is.
bool	changeScoreAccordingToShadowBorderValue (int x, int y, int offset_x, int offset_y, float border_scores, float border_scores_other_direction, int &shadow_border_idx) const
	Find the best corresponding shadow border and lower score according to the shadow borders value.
bool	checkIfMaximum (int x, int y, int offset_x, int offset_y, float *border_scores, int shadow_border_idx) const
	Check if a potential border point is a maximum regarding the border score.
bool	checkPotentialBorder (int x, int y, int offset_x, int offset_y, float border_scores_left, float border_scores_right, int &shadow_border_idx) const
	Check if a potential border point has a corresponding shadow border.
void	classifyBorders ()
	Classify the pixels in the range image according to the different classes defined below in enum BorderClass. minImpactAngle (in radians) defines how flat the angle at which a surface was seen can be.
virtual void	computeFeature (PointCloudOut &output)
	Implementation of abstract derived function.
void	extractBorderScoreImages ()
	Get images representing the probability that the corresponding pixels are borders in that direction (see getBorderScores... ())
void	extractLocalSurfaceStructure ()
	Extract local plane information in every point (see getSurfaceStructure ())
void	findAndEvaluateShadowBorders ()
	Find the best corresponding shadow border and lower score according to the shadow borders value.
bool	get3dDirection (const BorderDescription &border_description, Eigen::Vector3f &direction, const LocalSurface *local_surface=NULL)
	Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated.
float	getNeighborDistanceChangeScore (const LocalSurface &local_surface, int x, int y, int offset_x, int offset_y, int pixel_radius=1) const
	Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /param local_surface /param x /param y /param offset_x /param offset_y /param pixel_radius (defaults to 1) /return the resulting border score.
float	getNormalBasedBorderScore (const LocalSurface &local_surface, int x, int y, int offset_x, int offset_y) const
	Calculate a border score based on how much the neighbor is away from the local surface plane.
float	updatedScoreAccordingToNeighborValues (int x, int y, const float *border_scores) const
	Returns a new score for the given pixel that is >= the original value, based on the neighbors values.
float *	updatedScoresAccordingToNeighborValues (const float *border_scores) const
	For all pixels, returns a new score that is >= the original value, based on the neighbors values.
void	updateScoresAccordingToNeighborValues ()
	Replace all border score values with updates according to updatedScoreAccordingToNeighborValues.
Protected Attributes
PointCloudOut *	border_descriptions_
Eigen::Vector3f **	border_directions_
float *	border_scores_bottom_
float *	border_scores_left_
float *	border_scores_right_
float *	border_scores_top_
Parameters	parameters_
const RangeImage *	range_image_
int	range_image_size_during_extraction_
ShadowBorderIndices **	shadow_border_informations_
Eigen::Vector3f *	surface_change_directions_
float *	surface_change_scores_
LocalSurface **	surface_structure_
Private Member Functions
void	computeFeatureEigen (pcl::PointCloud< Eigen::MatrixXf > &)
	Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Detailed Description

Extract obstacle borders from range images, meaning positions where there is a transition from foreground to background.

Author:: Bastian Steder

Definition at line 56 of file range_image_border_extractor.h.

Member Typedef Documentation

typedef Feature<PointWithRange,BorderDescription> pcl::RangeImageBorderExtractor::BaseClass

Reimplemented from pcl::Feature< PointWithRange, BorderDescription >.

Definition at line 60 of file range_image_border_extractor.h.

Constructor & Destructor Documentation

pcl::RangeImageBorderExtractor::RangeImageBorderExtractor ( const RangeImage * range_image = NULL )

Constructor

Definition at line 55 of file range_image_border_extractor.cpp.

pcl::RangeImageBorderExtractor::~RangeImageBorderExtractor ( )

Destructor

Definition at line 64 of file range_image_border_extractor.cpp.

Member Function Documentation

void pcl::RangeImageBorderExtractor::blurSurfaceChanges ( ) [protected]

Apply a blur to the surface change images.

Definition at line 592 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::calculateBorderDirection	(	int	x,
		int	y
	)		`[inline, protected]`

Calculate the 3D direction of the border just using the border traits at this position (facing away from the obstacle)

Parameters:

x	the x-coordinate of the input position
y	the y-coordinate of the input position

Definition at line 162 of file range_image_border_extractor.hpp.

void pcl::RangeImageBorderExtractor::calculateBorderDirections ( ) [protected]

Call calculateBorderDirection for every point and average the result over parameters_.pixel_radius_border_direction.

Definition at line 461 of file range_image_border_extractor.cpp.

bool pcl::RangeImageBorderExtractor::calculateMainPrincipalCurvature	(	int	x,
		int	y,
		int	radius,
		float &	magnitude,
		Eigen::Vector3f &	main_direction
	)		const `[inline, protected]`

Calculate the main principal curvature (the largest eigenvalue and corresponding eigenvector for the normals in the area) in the given point.

Parameters:

x	the x-coordinate of the input point
y	the y-coordinate of the input point
radius	the pixel radius that is used to find neighboring points
magnitude	the resulting magnitude
main_direction	the resulting direction

Definition at line 312 of file range_image_border_extractor.hpp.

void pcl::RangeImageBorderExtractor::calculateSurfaceChanges ( ) [protected]

Uses either the border or principal curvature to define a score how much the surface changes in a point (1 for a border) and what the main direction of that change is.

Definition at line 543 of file range_image_border_extractor.cpp.

bool pcl::RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue	(	int	x,
		int	y,
		int	offset_x,
		int	offset_y,
		float *	border_scores,
		float *	border_scores_other_direction,
		int &	shadow_border_idx
	)		const `[inline, protected]`

Find the best corresponding shadow border and lower score according to the shadow borders value.

Parameters:

x
y
offset_x
offset_y
border_scores
border_scores_other_direction
shadow_border_idx

Returns:

Definition at line 180 of file range_image_border_extractor.hpp.

bool pcl::RangeImageBorderExtractor::checkIfMaximum	(	int	x,
		int	y,
		int	offset_x,
		int	offset_y,
		float *	border_scores,
		int	shadow_border_idx
	)		const `[inline, protected]`

Check if a potential border point is a maximum regarding the border score.

Parameters:

x	the x-coordinate of the input point
y	the y-coordinate of the input point
offset_x
offset_y
border_scores
shadow_border_idx

Returns:: a boolean value indicating whether or not the point is a maximum

Definition at line 289 of file range_image_border_extractor.hpp.

bool pcl::RangeImageBorderExtractor::checkPotentialBorder	(	int	x,
		int	y,
		int	offset_x,
		int	offset_y,
		float *	border_scores_left,
		float *	border_scores_right,
		int &	shadow_border_idx
	)		const `[inline, protected]`

Check if a potential border point has a corresponding shadow border.

Parameters:

x	the x-coordinate of the input point
y	the y-coordinate of the input point
offset_x
offset_y
border_scores_left
border_scores_right
shadow_border_idx

Returns:: a boolean value indicating whether or not the point has a corresponding shadow border

Definition at line 258 of file range_image_border_extractor.hpp.

void pcl::RangeImageBorderExtractor::classifyBorders ( ) [protected]

Classify the pixels in the range image according to the different classes defined below in enum BorderClass. minImpactAngle (in radians) defines how flat the angle at which a surface was seen can be.

Definition at line 354 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::clearData ( )

Erase all data calculated for the current range image.

Definition at line 79 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::compute ( PointCloudOut & output )

Overwrite the compute function of the base class

Reimplemented from pcl::Feature< PointWithRange, BorderDescription >.

Definition at line 682 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::computeFeature ( PointCloudOut & output ) [protected, virtual]

Implementation of abstract derived function.

Implements pcl::Feature< PointWithRange, BorderDescription >.

Definition at line 655 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::computeFeatureEigen ( pcl::PointCloud< Eigen::MatrixXf > & ) [inline, private, virtual]

Make the computeFeature (&Eigen::MatrixXf); inaccessible from outside the class.

Parameters:

[out] output the output point cloud

Implements pcl::Feature< PointWithRange, BorderDescription >.

Definition at line 356 of file range_image_border_extractor.h.

void pcl::RangeImageBorderExtractor::extractBorderScoreImages ( ) [protected]

Get images representing the probability that the corresponding pixels are borders in that direction (see getBorderScores... ())

Definition at line 153 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::extractLocalSurfaceStructure ( ) [protected]

Extract local plane information in every point (see getSurfaceStructure ())

Definition at line 106 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::findAndEvaluateShadowBorders ( ) [protected]

Find the best corresponding shadow border and lower score according to the shadow borders value.

Definition at line 227 of file range_image_border_extractor.cpp.

bool pcl::RangeImageBorderExtractor::get3dDirection	(	const BorderDescription &	border_description,
		Eigen::Vector3f &	direction,
		const LocalSurface *	local_surface = `NULL`
	)		`[inline, protected]`

Calculate a 3d direction from a border point by projecting the direction in the range image - returns false if direction could not be calculated.

Parameters:

border_description
direction
local_surface

Returns:: a boolean value indicating whether or not a direction could be calculated

Definition at line 120 of file range_image_border_extractor.hpp.

float * pcl::RangeImageBorderExtractor::getAnglesImageForBorderDirections ( )

Get the 2D directions in the range image from the border directions - probably mainly useful for visualization.

Definition at line 277 of file range_image_border_extractor.cpp.

float * pcl::RangeImageBorderExtractor::getAnglesImageForSurfaceChangeDirections ( )

Get the 2D directions in the range image from the surface change directions - probably mainly useful for visualization.

Definition at line 312 of file range_image_border_extractor.cpp.

PointCloudOut& pcl::RangeImageBorderExtractor::getBorderDescriptions ( ) [inline]

Definition at line 165 of file range_image_border_extractor.h.

Eigen::Vector3f** pcl::RangeImageBorderExtractor::getBorderDirections ( ) [inline]

Definition at line 171 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresBottom ( ) [inline]

Definition at line 159 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresLeft ( ) [inline]

Definition at line 150 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresRight ( ) [inline]

Definition at line 153 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getBorderScoresTop ( ) [inline]

Definition at line 156 of file range_image_border_extractor.h.

float pcl::RangeImageBorderExtractor::getNeighborDistanceChangeScore	(	const LocalSurface &	local_surface,
		int	x,
		int	y,
		int	offset_x,
		int	offset_y,
		int	pixel_radius = `1`
	)		const `[inline, protected]`

Calculate a border score based on how distant the neighbor is, compared to the closest neighbors /param local_surface /param x /param y /param offset_x /param offset_y /param pixel_radius (defaults to 1) /return the resulting border score.

Definition at line 67 of file range_image_border_extractor.hpp.

float pcl::RangeImageBorderExtractor::getNormalBasedBorderScore	(	const LocalSurface &	local_surface,
		int	x,
		int	y,
		int	offset_x,
		int	offset_y
	)		const `[inline, protected]`

Calculate a border score based on how much the neighbor is away from the local surface plane.

Parameters:

local_surface
x
y
offset_x
offset_y

Returns:: the resulting border score

float pcl::RangeImageBorderExtractor::getObstacleBorderAngle ( const BorderTraits & border_traits ) [inline, static]

Take the information from BorderTraits to calculate the local direction of the border.

Parameters:

border_traits contains the information needed to calculate the border angle

Definition at line 42 of file range_image_border_extractor.hpp.

Parameters& pcl::RangeImageBorderExtractor::getParameters ( ) [inline]

Definition at line 141 of file range_image_border_extractor.h.

const RangeImage& pcl::RangeImageBorderExtractor::getRangeImage ( ) const [inline]

Definition at line 147 of file range_image_border_extractor.h.

ShadowBorderIndices** pcl::RangeImageBorderExtractor::getShadowBorderInformations ( ) [inline]

Definition at line 168 of file range_image_border_extractor.h.

Eigen::Vector3f* pcl::RangeImageBorderExtractor::getSurfaceChangeDirections ( ) [inline]

Definition at line 177 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::getSurfaceChangeScores ( ) [inline]

Definition at line 174 of file range_image_border_extractor.h.

LocalSurface** pcl::RangeImageBorderExtractor::getSurfaceStructure ( ) [inline]

Definition at line 162 of file range_image_border_extractor.h.

bool pcl::RangeImageBorderExtractor::hasRangeImage ( ) const [inline]

Definition at line 144 of file range_image_border_extractor.h.

void pcl::RangeImageBorderExtractor::setRangeImage ( const RangeImage * range_image )

Provide a pointer to the range image.

Parameters:

range_image a pointer to the range_image

Definition at line 71 of file range_image_border_extractor.cpp.

float pcl::RangeImageBorderExtractor::updatedScoreAccordingToNeighborValues	(	int	x,
		int	y,
		const float *	border_scores
	)		const `[inline, protected]`

Returns a new score for the given pixel that is >= the original value, based on the neighbors values.

Parameters:

x	the x-coordinate of the input pixel
y	the y-coordinate of the input pixel
border_scores	the input border scores

Returns:: the resulting updated border score

Definition at line 226 of file range_image_border_extractor.hpp.

float * pcl::RangeImageBorderExtractor::updatedScoresAccordingToNeighborValues ( const float * border_scores ) const [protected]

For all pixels, returns a new score that is >= the original value, based on the neighbors values.

Parameters:

border_scores the input border scores

Returns:: a pointer to the resulting array of updated scores

Definition at line 193 of file range_image_border_extractor.cpp.

void pcl::RangeImageBorderExtractor::updateScoresAccordingToNeighborValues ( ) [protected]

Replace all border score values with updates according to updatedScoreAccordingToNeighborValues.

Definition at line 205 of file range_image_border_extractor.cpp.

Member Data Documentation

PointCloudOut* pcl::RangeImageBorderExtractor::border_descriptions_ [protected]

Definition at line 187 of file range_image_border_extractor.h.

Eigen::Vector3f** pcl::RangeImageBorderExtractor::border_directions_ [protected]

Definition at line 189 of file range_image_border_extractor.h.

float * pcl::RangeImageBorderExtractor::border_scores_bottom_ [protected]

Definition at line 185 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::border_scores_left_ [protected]

Definition at line 185 of file range_image_border_extractor.h.

float * pcl::RangeImageBorderExtractor::border_scores_right_ [protected]

Definition at line 185 of file range_image_border_extractor.h.

float * pcl::RangeImageBorderExtractor::border_scores_top_ [protected]

Definition at line 185 of file range_image_border_extractor.h.

Parameters pcl::RangeImageBorderExtractor::parameters_ [protected]

Definition at line 182 of file range_image_border_extractor.h.

const RangeImage* pcl::RangeImageBorderExtractor::range_image_ [protected]

Definition at line 183 of file range_image_border_extractor.h.

int pcl::RangeImageBorderExtractor::range_image_size_during_extraction_ [protected]

Definition at line 184 of file range_image_border_extractor.h.

ShadowBorderIndices** pcl::RangeImageBorderExtractor::shadow_border_informations_ [protected]

Definition at line 188 of file range_image_border_extractor.h.

Eigen::Vector3f* pcl::RangeImageBorderExtractor::surface_change_directions_ [protected]

Definition at line 192 of file range_image_border_extractor.h.

float* pcl::RangeImageBorderExtractor::surface_change_scores_ [protected]

Definition at line 191 of file range_image_border_extractor.h.

LocalSurface** pcl::RangeImageBorderExtractor::surface_structure_ [protected]

Definition at line 186 of file range_image_border_extractor.h.

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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation