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, 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
typedef boost::shared_ptr < const RangeImagePlanar >	ConstPtr
typedef boost::shared_ptr < RangeImagePlanar >	Ptr
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.
virtual PCL_EXPORTS void	copyTo (RangeImage &other) const
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)
float	getCenterX () const
	Getter for the principal point in X.
float	getCenterY () const
	Getter for the principal point in Y.
float	getFocalLengthX () const
	Getter for the focal length in X.
float	getFocalLengthY () const
	Getter for the focal length in Y.
virtual PCL_EXPORTS 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 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
Ptr	makeShared ()
	Get a boost shared pointer of a copy of this.
PCL_EXPORTS	RangeImagePlanar ()
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)
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)
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.
virtual PCL_EXPORTS	~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, ToF-cameras), so that a conversion to point cloud and then to a spherical range image becomes unnecessary.

Author:: Bastian Steder

Definition at line 52 of file range_image_planar.h.

Member Typedef Documentation

typedef RangeImage pcl::RangeImagePlanar::BaseClass

Reimplemented from pcl::RangeImage.

Definition at line 56 of file range_image_planar.h.

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

Reimplemented from pcl::RangeImage.

Definition at line 58 of file range_image_planar.h.

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

Reimplemented from pcl::RangeImage.

Definition at line 57 of file range_image_planar.h.

Constructor & Destructor Documentation

pcl::RangeImagePlanar::RangeImagePlanar ( )

Constructor

Definition at line 46 of file range_image_planar.cpp.

pcl::RangeImagePlanar::~RangeImagePlanar ( ) [virtual]

Destructor

Definition at line 53 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 92 of file range_image_planar.hpp.

void pcl::RangeImagePlanar::copyTo ( RangeImage & other ) const [virtual]

Copy *this to other. Derived version - also copying additonal RangeImagePlanar members

Reimplemented from pcl::RangeImage.

Definition at line 253 of file range_image_planar.cpp.

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`
	)

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 50 of file range_image_planar.hpp.

float pcl::RangeImagePlanar::getCenterX ( ) const [inline]

Getter for the principal point in X.

Definition at line 202 of file range_image_planar.h.

float pcl::RangeImagePlanar::getCenterY ( ) const [inline]

Getter for the principal point in Y.

Definition at line 206 of file range_image_planar.h.

float pcl::RangeImagePlanar::getFocalLengthX ( ) const [inline]

Getter for the focal length in X.

Definition at line 194 of file range_image_planar.h.

float pcl::RangeImagePlanar::getFocalLengthY ( ) const [inline]

Getter for the focal length in Y.

Definition at line 198 of file range_image_planar.h.

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

Get a range image with half the resolution.

Reimplemented from pcl::RangeImage.

Definition at line 207 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 105 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 69 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 228 of file range_image_planar.cpp.

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

Get a boost shared pointer of a copy of this.

Reimplemented from pcl::RangeImage.

Definition at line 78 of file range_image_planar.h.

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 depth image data as float values
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 116 of file range_image_planar.cpp.

void pcl::RangeImagePlanar::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.

Parameters:

depth_image	the input disparity image data as short values describing millimeters
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 162 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.