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35 #ifndef SRC_LIBLVR2_RECONSTRUCTION_MODELTOIMAGE_HPP_
36 #define SRC_LIBLVR2_RECONSTRUCTION_MODELTOIMAGE_HPP_
39 #include <opencv2/core.hpp>
87 vector<vector<vector<PanoramaPoint> > >
pixels;
138 int width,
int height,
139 float minZ,
float maxZ,
140 int minHorizontenAngle,
int maxHorizontalAngle,
141 int mainVerticalAngle,
int maxVerticalAngle,
142 bool imageOptimization =
true,
Image with single depth information.
virtual ~ModelToImage()
Destructor.
struct lvr2::ModelToImage::DI DepthImage
Image with single depth information.
Projection * m_projection
Pointer to projection.
PointBufferPtr m_points
Pointer to the initial point cloud.
vector< vector< vector< PanoramaPoint > > > pixels
std::shared_ptr< PointBuffer > PointBufferPtr
vector< vector< float > > pixels
int m_minVAngle
Min horizontal opening angle.
Image with list of projected points at each pixel.
int m_maxVAngle
Max horizontal opening angle.
void getCVMatrix(cv::Mat &image)
CoordinateSystem m_coordinateSystem
Set this to true if you are using a left-handed coordinate system.
int m_minHAngle
Min horizontal opening angle.
int m_maxHAngle
Max horizontal opening angle.
Pixelcoordinates with depth value.
ModelToImage(PointBufferPtr buffer, ProjectionType projection, int width, int height, float minZ, float maxZ, int minHorizontenAngle, int maxHorizontalAngle, int mainVerticalAngle, int maxVerticalAngle, bool imageOptimization=true, CoordinateSystem system=NATIVE)
Constructor.
The ModelToImage class provides methods to re-project 3D laser scans to image planes.
void writePGM(string filename, float cutoff)
Writes the scan panaroma to an pgm file.
PointBufferPtr pointBuffer()
Retruns the point buffer.
ProjectionType
The ProjectionType enum.
float m_maxZ
Maximal z value that will be projected.
int m_height
Image height.
struct lvr2::ModelToImage::PanoPoint PanoramaPoint
void computeDepthImage(DepthImage &img, ProjectionPolicy policy=LAST)
Computes a depth image from the given scan using the specified policy.
struct lvr2::ModelToImage::PLI DepthListMatrix
Image with list of projected points at each pixel.
void computeDepthListMatrix(DepthListMatrix &mat)
Computes a DepthListMatrix, i.e., an image matrix where each entry holds a vector of all points that ...
float m_minZ
Minimal z value that will be projected.
bool m_optimize
Image optimization flag.
lvr2
Author(s): Thomas Wiemann
, Sebastian Pütz , Alexander Mock , Lars Kiesow , Lukas Kalbertodt , Tristan Igelbrink , Johan M. von Behren , Dominik Feldschnieders , Alexander Löhr
autogenerated on Wed Mar 2 2022 00:37:24