Adapted version of pcl::RangeImagePlanar. More...

#include <RangeImagePlanar.h>

Public Types
typedef boost::shared_ptr < const shape_reconstruction::RangeImagePlanar >	ConstPtr
typedef boost::shared_ptr < shape_reconstruction::RangeImagePlanar >	Ptr
Public Member Functions
template<typename PointCloudType >
void	computeZandMatchingPoints (const PointCloudType &point_cloud, float min_range, const cv::Mat &matching_im, const float matching_im_min_range, pcl::PointIndicesPtr &matching_indices, pcl::PointIndicesPtr &matching_indices_in_matching_im, pcl::PointIndicesPtr &indices_to_remove, int height, int width)
template<typename PointCloudType >
void	createFromPointCloudWithFixedSizeAndStorePoints (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)
template<typename PointCloudType >
void	doZBufferAndStorePoints (const PointCloudType &point_cloud, float noise_level, float min_range, int &top, int &right, int &bottom, int &left)
bool	getPointIndex (const int &x, const int &y, int &idx) const
template<typename PointCloudType >
void	matchPointCloudAndImage (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, const cv::Mat &matching_im, const float matching_im_min_range, pcl::PointIndicesPtr &matching_indices, pcl::PointIndicesPtr &matching_indices_in_matching_im, pcl::PointIndicesPtr &indices_to_remove, float min_range=0.0f)
	RangeImagePlanar ()
void	resetPointIndex (const int &width, const int &height)
void	setPointIndex (const int &x, const int &y, const int &idx)
virtual	~RangeImagePlanar ()
Public Attributes
int *	img_coord_to_point_idx

Detailed Description

Adapted version of pcl::RangeImagePlanar.

When creating the RangeImage we additionally track changes to the z-buffer to know which point is projected on which pixel in the range image

Definition at line 66 of file RangeImagePlanar.h.

Member Typedef Documentation

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

Definition at line 69 of file RangeImagePlanar.h.

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

Definition at line 68 of file RangeImagePlanar.h.

Constructor & Destructor Documentation

shape_reconstruction::RangeImagePlanar::RangeImagePlanar ( ) [inline]

Definition at line 71 of file RangeImagePlanar.h.

virtual shape_reconstruction::RangeImagePlanar::~RangeImagePlanar ( ) [inline, virtual]

Destructor

Definition at line 76 of file RangeImagePlanar.h.

Member Function Documentation

template<typename PointCloudType >

void shape_reconstruction::RangeImagePlanar::computeZandMatchingPoints	(	const PointCloudType &	point_cloud,
		float	min_range,
		const cv::Mat &	matching_im,
		const float	matching_im_min_range,
		pcl::PointIndicesPtr &	matching_indices,
		pcl::PointIndicesPtr &	matching_indices_in_matching_im,
		pcl::PointIndicesPtr &	indices_to_remove,
		int	height,
		int	width
	)

Definition at line 221 of file RangeImagePlanar.hpp.

template<typename PointCloudType >

void shape_reconstruction::RangeImagePlanar::createFromPointCloudWithFixedSizeAndStorePoints	(	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`
	)

Definition at line 179 of file RangeImagePlanar.hpp.

template<typename PointCloudType >

void shape_reconstruction::RangeImagePlanar::doZBufferAndStorePoints	(	const PointCloudType &	point_cloud,
		float	noise_level,
		float	min_range,
		int &	top,
		int &	right,
		int &	bottom,
		int &	left
	)

Definition at line 58 of file RangeImagePlanar.hpp.

bool shape_reconstruction::RangeImagePlanar::getPointIndex	(	const int &	x,
		const int &	y,
		int &	idx
	)		const `[inline]`

Definition at line 121 of file RangeImagePlanar.h.

template<typename PointCloudType >

void shape_reconstruction::RangeImagePlanar::matchPointCloudAndImage	(	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,
		const cv::Mat &	matching_im,
		const float	matching_im_min_range,
		pcl::PointIndicesPtr &	matching_indices,
		pcl::PointIndicesPtr &	matching_indices_in_matching_im,
		pcl::PointIndicesPtr &	indices_to_remove,
		float	min_range = `0.0f`
	)

Definition at line 451 of file RangeImagePlanar.hpp.

void shape_reconstruction::RangeImagePlanar::resetPointIndex	(	const int &	width,
		const int &	height
	)		`[inline]`

Definition at line 141 of file RangeImagePlanar.h.

void shape_reconstruction::RangeImagePlanar::setPointIndex	(	const int &	x,
		const int &	y,
		const int &	idx
	)		`[inline]`

Definition at line 132 of file RangeImagePlanar.h.

Member Data Documentation

int* shape_reconstruction::RangeImagePlanar::img_coord_to_point_idx

Definition at line 152 of file RangeImagePlanar.h.

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation