RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where a 3D scene was captured from a specific view point. More...

#include <range_image.h>

Inheritance diagram for pcl::RangeImage:

[legend]

List of all members.

Public Types
typedef pcl::PointCloud < PointWithRange >	BaseClass
typedef boost::shared_ptr < const RangeImage >	ConstPtr
enum	CoordinateFrame { CAMERA_FRAME = 0, LASER_FRAME = 1 }
typedef boost::shared_ptr < RangeImage >	Ptr
typedef std::vector < Eigen::Vector3f, Eigen::aligned_allocator < Eigen::Vector3f > >	VectorOfEigenVector3f
Public Member Functions
void	calculate3DPoint (float image_x, float image_y, float range, PointWithRange &point) const
void	calculate3DPoint (float image_x, float image_y, PointWithRange &point) const
virtual void	calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f &point) const
void	calculate3DPoint (float image_x, float image_y, Eigen::Vector3f &point) const
PCL_EXPORTS void	change3dPointsToLocalCoordinateFrame ()
	This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame.
float	checkPoint (const Eigen::Vector3f &point, PointWithRange &point_in_image) const
void	createEmpty (float angular_resolution, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))
	Create an empty depth image (filled with unobserved points)
void	createEmpty (float angular_resolution_x, float angular_resolution_y, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))
	Create an empty depth image (filled with unobserved points)
template<typename PointCloudType >
void	createFromPointCloud (const PointCloudType &point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud.
template<typename PointCloudType >
void	createFromPointCloud (const PointCloudType &point_cloud, float angular_resolution_x=pcl::deg2rad(0.5f), float angular_resolution_y=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud.
template<typename PointCloudType >
void	createFromPointCloudWithKnownSize (const PointCloudType &point_cloud, float angular_resolution, const Eigen::Vector3f &point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.
template<typename PointCloudType >
void	createFromPointCloudWithKnownSize (const PointCloudType &point_cloud, float angular_resolution_x, float angular_resolution_y, const Eigen::Vector3f &point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.
template<typename PointCloudTypeWithViewpoints >
void	createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).
template<typename PointCloudTypeWithViewpoints >
void	createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution_x, float angular_resolution_y, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).
PCL_EXPORTS void	cropImage (int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)
	Cut the range image to the minimal size so that it still contains all actual range readings.
template<typename PointCloudType >
void	doZBuffer (const PointCloudType &point_cloud, float noise_level, float min_range, int &top, int &right, int &bottom, int &left)
	Integrate the given point cloud into the current range image using a z-buffer.
void	get1dPointAverage (int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &average_point) const
float	getAcutenessValue (const PointWithRange &point1, const PointWithRange &point2) const
float	getAcutenessValue (int x1, int y1, int x2, int y2) const
	Same as above.
PCL_EXPORTS void	getAcutenessValueImages (int pixel_distance, float &acuteness_value_image_x, float &acuteness_value_image_y) const
void	getAnglesFromImagePoint (float image_x, float image_y, float &angle_x, float &angle_y) const
float	getAngularResolution () const
void	getAngularResolution (float &angular_resolution_x, float &angular_resolution_y) const
float	getAngularResolutionX () const
float	getAngularResolutionY () const
float	getAverageEuclideanDistance (int x, int y, int offset_x, int offset_y, int max_steps) const
	Doing the above for some steps in the given direction and averaging.
PCL_EXPORTS void	getBlurredImage (int blur_radius, RangeImage &range_image) const
PCL_EXPORTS void	getBlurredImageUsingIntegralImage (int blur_radius, float integral_image, int valid_points_num_image, RangeImage &range_image) const
float	getCurvature (int x, int y, int radius, int step_size) const
const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int x, int y) const
const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int index) const
float	getEuclideanDistanceSquared (int x1, int y1, int x2, int y2) const
virtual void	getHalfImage (RangeImage &half_image) const
	Get a range image with half the resolution.
int	getImageOffsetX () const
	Getter for image_offset_x_.
int	getImageOffsetY () const
	Getter for image_offset_y_.
virtual void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y, float &range) const
void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y) const
void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y) const
void	getImagePoint (float x, float y, float z, float &image_x, float &image_y, float &range) const
void	getImagePoint (float x, float y, float z, float &image_x, float &image_y) const
void	getImagePoint (float x, float y, float z, int &image_x, int &image_y) const
void	getImagePointFromAngles (float angle_x, float angle_y, float &image_x, float &image_y) const
float	getImpactAngle (const PointWithRange &point1, const PointWithRange &point2) const
float	getImpactAngle (int x1, int y1, int x2, int y2) const
	Same as above.
float	getImpactAngleBasedOnLocalNormal (int x, int y, int radius) const
PCL_EXPORTS float *	getImpactAngleImageBasedOnLocalNormals (int radius) const
PCL_EXPORTS void	getIntegralImage (float &integral_image, int &valid_points_num_image) const
PCL_EXPORTS float *	getInterpolatedSurfaceProjection (const Eigen::Affine3f &pose, int pixel_size, float world_size) const
PCL_EXPORTS float *	getInterpolatedSurfaceProjection (const Eigen::Vector3f &point, int pixel_size, float world_size) const
	Same as above, but using the local coordinate frame defined by point and the viewing direction.
PCL_EXPORTS void	getMinMaxRanges (float &min_range, float &max_range) const
	Find the minimum and maximum range in the image.
virtual RangeImage *	getNew () const
bool	getNormal (int x, int y, int radius, Eigen::Vector3f &normal, int step_size=1) const
float	getNormalBasedAcutenessValue (int x, int y, int radius) const
PCL_EXPORTS bool	getNormalBasedUprightTransformation (const Eigen::Vector3f &point, float max_dist, Eigen::Affine3f &transformation) const
bool	getNormalForClosestNeighbors (int x, int y, int radius, const PointWithRange &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, int step_size=1) const
bool	getNormalForClosestNeighbors (int x, int y, int radius, const Eigen::Vector3f &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, Eigen::Vector3f *point_on_plane=NULL, int step_size=1) const
bool	getNormalForClosestNeighbors (int x, int y, Eigen::Vector3f &normal, int radius=2) const
PCL_EXPORTS float	getOverlap (const RangeImage &other_range_image, const Eigen::Affine3f &relative_transformation, int search_radius, float max_distance, int pixel_step=1) const
const PointWithRange &	getPoint (int image_x, int image_y) const
	Return the 3D point with range at the given image position.
PointWithRange &	getPoint (int image_x, int image_y)
	Non-const-version of getPoint.
const PointWithRange &	getPoint (float image_x, float image_y) const
PointWithRange &	getPoint (float image_x, float image_y)
void	getPoint (int image_x, int image_y, Eigen::Vector3f &point) const
void	getPoint (int index, Eigen::Vector3f &point) const
const PointWithRange &	getPoint (int index) const
const PointWithRange &	getPointNoCheck (int image_x, int image_y) const
	Return the 3D point with range at the given image position. This methd performs no error checking to make sure the specified image position is inside of the image!
PointWithRange &	getPointNoCheck (int image_x, int image_y)
float	getRangeDifference (const Eigen::Vector3f &point) const
PCL_EXPORTS void	getRangeImageWithSmoothedSurface (int radius, RangeImage &smoothed_range_image) const
	Project all points on the local plane approximation, thereby smoothing the surface of the scan.
PCL_EXPORTS float *	getRangesArray () const
	Get all the range values in one float array of size width*height.
void	getRotationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, but only returning the rotation.
const Eigen::Vector3f	getSensorPos () const
	Get the sensor position.
float	getSquaredDistanceOfNthNeighbor (int x, int y, int radius, int n, int step_size) 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
void	getSurfaceAngleChange (int x, int y, int radius, float &angle_change_x, float &angle_change_y) const
PCL_EXPORTS void	getSurfaceAngleChangeImages (int radius, float &angle_change_image_x, float &angle_change_image_y) const
PCL_EXPORTS float	getSurfaceChange (int x, int y, int radius) const
PCL_EXPORTS float *	getSurfaceChangeImage (int radius) const
bool	getSurfaceInformation (int x, int y, int radius, const Eigen::Vector3f &point, int no_of_closest_neighbors, int step_size, float &max_closest_neighbor_distance_squared, Eigen::Vector3f &normal, Eigen::Vector3f &mean, Eigen::Vector3f &eigen_values, Eigen::Vector3f normal_all_neighbors=NULL, Eigen::Vector3f mean_all_neighbors=NULL, Eigen::Vector3f *eigen_values_all_neighbors=NULL) const
const Eigen::Affine3f &	getTransformationToRangeImageSystem () const
Eigen::Affine3f	getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point) const
	Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.
void	getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, using a reference for the retrurn value.
const Eigen::Affine3f &	getTransformationToWorldSystem () const
bool	getViewingDirection (int x, int y, Eigen::Vector3f &viewing_direction) const
void	getViewingDirection (const Eigen::Vector3f &point, Eigen::Vector3f &viewing_direction) const
PCL_EXPORTS void	integrateFarRanges (const PointCloud< PointWithViewpoint > &far_ranges)
	Integrates the given far range measurements into the range image.
bool	isInImage (int x, int y) const
bool	isMaxRange (int x, int y) const
bool	isObserved (int x, int y) const
bool	isValid (int x, int y) const
bool	isValid (int index) const
Ptr	makeShared ()
	Get a boost shared pointer of a copy of this.
PCL_EXPORTS	RangeImage ()
void	real2DToInt2D (float x, float y, int &xInt, int &yInt) const
PCL_EXPORTS void	recalculate3DPointPositions ()
PCL_EXPORTS void	reset ()
	Reset all values to an empty range image.
void	setAngularResolution (float angular_resolution)
	Set the angular resolution of the range image.
void	setAngularResolution (float angular_resolution_x, float angular_resolution_y)
	Set the angular resolution of the range image.
void	setImageOffsets (int offset_x, int offset_y)
	Setter for image offsets.
void	setTransformationToRangeImageSystem (const Eigen::Affine3f &to_range_image_system)
PCL_EXPORTS void	setUnseenToMaxRange ()
PCL_EXPORTS	~RangeImage ()
Static Public Member Functions
static PCL_EXPORTS void	extractFarRanges (const sensor_msgs::PointCloud2 &point_cloud_data, PointCloud< PointWithViewpoint > &far_ranges)
	Check if the provided data includes far ranges and add them to far_ranges.
template<typename PointCloudTypeWithViewpoints >
static Eigen::Vector3f	getAverageViewPoint (const PointCloudTypeWithViewpoints &point_cloud)
	Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z.
static PCL_EXPORTS void	getCoordinateFrameTransformation (RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
	Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.
static Eigen::Vector3f	getEigenVector3f (const PointWithRange &point)
	Get Eigen::Vector3f from PointWithRange.
static float	getMaxAngleSize (const Eigen::Affine3f &viewer_pose, const Eigen::Vector3f &center, float radius)
	Get the size of a certain area when seen from the given pose.
Static Public Attributes
static bool	debug = false
static int	max_no_of_threads = 1
Static Protected Member Functions
static float	asinLookUp (float value)
static float	atan2LookUp (float y, float x)
static float	cosLookUp (float value)
static void	createLookupTables ()
Protected Attributes
float	angular_resolution_x_
float	angular_resolution_x_reciprocal_
float	angular_resolution_y_
float	angular_resolution_y_reciprocal_
int	image_offset_x_
int	image_offset_y_
Eigen::Affine3f	to_range_image_system_
Eigen::Affine3f	to_world_system_
PointWithRange	unobserved_point
Static Protected Attributes
static std::vector< float >	asin_lookup_table
static std::vector< float >	atan_lookup_table
static std::vector< float >	cos_lookup_table
static const int	lookup_table_size = 20001

Detailed Description

RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where a 3D scene was captured from a specific view point.

Author:: Bastian Steder

Definition at line 55 of file range_image.h.

Member Typedef Documentation

typedef pcl::PointCloud<PointWithRange> pcl::RangeImage::BaseClass

Reimplemented in pcl::RangeImagePlanar.

Definition at line 59 of file range_image.h.

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

Reimplemented from pcl::PointCloud< PointWithRange >.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 62 of file range_image.h.

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

Reimplemented from pcl::PointCloud< PointWithRange >.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 61 of file range_image.h.

typedef std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::RangeImage::VectorOfEigenVector3f

Definition at line 60 of file range_image.h.

Member Enumeration Documentation

enum pcl::RangeImage::CoordinateFrame

Enumerator:

CAMERA_FRAME
LASER_FRAME

Definition at line 64 of file range_image.h.

Constructor & Destructor Documentation

pcl::RangeImage::RangeImage ( )

Constructor

Definition at line 107 of file range_image.cpp.

pcl::RangeImage::~RangeImage ( )

Destructor

Definition at line 123 of file range_image.cpp.

Member Function Documentation

float pcl::RangeImage::asinLookUp ( float value ) [inline, static, protected]

Query the asin lookup table

Definition at line 46 of file range_image.hpp.

float pcl::RangeImage::atan2LookUp	(	float	y,
		float	x
	)		`[inline, static, protected]`

Query the atan2 lookup table

Definition at line 56 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		float	range,
		PointWithRange &	point
	)		const `[inline]`

Calculate the 3D point according to the given image point and range

Definition at line 579 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		PointWithRange &	point
	)		const `[inline]`

Calculate the 3D point according to the given image point and the range value at the closest pixel

Definition at line 588 of file range_image.hpp.

void pcl::RangeImage::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

Reimplemented in pcl::RangeImagePlanar.

Definition at line 558 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		Eigen::Vector3f &	point
	)		const `[inline]`

Calculate the 3D point according to the given image point and the range value at the closest pixel

Definition at line 571 of file range_image.hpp.

void pcl::RangeImage::change3dPointsToLocalCoordinateFrame ( )

This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame.

Definition at line 584 of file range_image.cpp.

float pcl::RangeImage::checkPoint	(	const Eigen::Vector3f &	point,
		PointWithRange &	point_in_image
	)		const `[inline]`

point_in_image will be the point in the image at the position the given point would be. Returns the range of the given point.

Definition at line 385 of file range_image.hpp.

float pcl::RangeImage::cosLookUp ( float value ) [inline, static, protected]

Query the cos lookup table

Definition at line 80 of file range_image.hpp.

void pcl::RangeImage::createEmpty	(	float	angular_resolution,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	angle_width = `pcl::deg2rad (360.0f)`,
		float	angle_height = `pcl::deg2rad (180.0f)`
	)

Create an empty depth image (filled with unobserved points)

Parameters:

[in]	angular_resolution	the angle (in radians) between each sample in the depth image
[in]	sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
[in]	coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
[in]	angle_width	an angle (in radians) defining the horizontal bounds of the sensor (defaults to 2*pi (360deg))
[in]	angle_height	an angle (in radians) defining the vertical bounds of the sensor (defaults to pi (180deg))

Definition at line 142 of file range_image.cpp.

void pcl::RangeImage::createEmpty	(	float	angular_resolution_x,
		float	angular_resolution_y,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	angle_width = `pcl::deg2rad (360.0f)`,
		float	angle_height = `pcl::deg2rad (180.0f)`
	)

Create an empty depth image (filled with unobserved points)

Parameters:

	angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
	angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
[in]	sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
[in]	coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
[in]	angle_width	an angle (in radians) defining the horizontal bounds of the sensor (defaults to 2*pi (360deg))
[in]	angle_height	an angle (in radians) defining the vertical bounds of the sensor (defaults to pi (180deg))

Definition at line 150 of file range_image.cpp.

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloud	(	const PointCloudType &	point_cloud,
		float	angular_resolution = `pcl::deg2rad (0.5f)`,
		float	max_angle_width = `pcl::deg2rad (360.0f)`,
		float	max_angle_height = `pcl::deg2rad (180.0f)`,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud.

Parameters:

point_cloud	the input point cloud
angular_resolution	the angular difference (in radians) between the individual pixels in the image
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 88 of file range_image.hpp.

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloud	(	const PointCloudType &	point_cloud,
		float	angular_resolution_x = `pcl::deg2rad (0.5f)`,
		float	angular_resolution_y = `pcl::deg2rad (0.5f)`,
		float	max_angle_width = `pcl::deg2rad (360.0f)`,
		float	max_angle_height = `pcl::deg2rad (180.0f)`,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud.

Parameters:

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 99 of file range_image.hpp.

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloudWithKnownSize	(	const PointCloudType &	point_cloud,
		float	angular_resolution,
		const Eigen::Vector3f &	point_cloud_center,
		float	point_cloud_radius,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.

Parameters:

point_cloud	the input point cloud
angular_resolution	the angle (in radians) between each sample in the depth image
point_cloud_center	the center of bounding sphere
point_cloud_radius	the radius of the bounding sphere
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 136 of file range_image.hpp.

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloudWithKnownSize	(	const PointCloudType &	point_cloud,
		float	angular_resolution_x,
		float	angular_resolution_y,
		const Eigen::Vector3f &	point_cloud_center,
		float	point_cloud_radius,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.

Parameters:

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
angular_resolution	the angle (in radians) between each sample in the depth image
point_cloud_center	the center of bounding sphere
point_cloud_radius	the radius of the bounding sphere
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 147 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >

void pcl::RangeImage::createFromPointCloudWithViewpoints	(	const PointCloudTypeWithViewpoints &	point_cloud,
		float	angular_resolution,
		float	max_angle_width,
		float	max_angle_height,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).

Parameters:

point_cloud	the input point cloud
angular_resolution	the angle (in radians) between each sample in the depth image
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Note:: If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

Definition at line 197 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >

void pcl::RangeImage::createFromPointCloudWithViewpoints	(	const PointCloudTypeWithViewpoints &	point_cloud,
		float	angular_resolution_x,
		float	angular_resolution_y,
		float	max_angle_width,
		float	max_angle_height,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).

Parameters:

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Note:: If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

Definition at line 210 of file range_image.hpp.

void pcl::RangeImage::createLookupTables ( ) [static, protected]

Create lookup tables for trigonometric functions

Definition at line 57 of file range_image.cpp.

void pcl::RangeImage::cropImage	(	int	border_size = `0`,
		int	top = `-1`,
		int	right = `-1`,
		int	bottom = `-1`,
		int	left = `-1`
	)

Cut the range image to the minimal size so that it still contains all actual range readings.

Parameters:

border_size	allows increase from the minimal size by the specified number of pixels (defaults to 0)
top	if positive, this value overrides the position of the top edge (defaults to -1)
right	if positive, this value overrides the position of the right edge (defaults to -1)
bottom	if positive, this value overrides the position of the bottom edge (defaults to -1)
left	if positive, this value overrides the position of the left edge (defaults to -1)

Definition at line 209 of file range_image.cpp.

template<typename PointCloudType >

void pcl::RangeImage::doZBuffer	(	const PointCloudType &	point_cloud,
		float	noise_level,
		float	min_range,
		int &	top,
		int &	right,
		int &	bottom,
		int &	left
	)

Integrate the given point cloud into the current range image using a z-buffer.

Parameters:

point_cloud	the input point cloud
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range
top	returns the minimum y pixel position in the image where a point was added
right	returns the maximum x pixel position in the image where a point was added
bottom	returns the maximum y pixel position in the image where a point was added
top	returns the minimum y position in the image where a point was added
left	returns the minimum x pixel position in the image where a point was added

Definition at line 224 of file range_image.hpp.

void pcl::RangeImage::extractFarRanges	(	const sensor_msgs::PointCloud2 &	point_cloud_data,
		PointCloud< PointWithViewpoint > &	far_ranges
	)		`[static]`

Check if the provided data includes far ranges and add them to far_ranges.

Parameters:

point_cloud_data	a PointCloud2 message containing the input cloud
far_ranges	the resulting cloud containing those points with far ranges

Definition at line 941 of file range_image.cpp.

void pcl::RangeImage::get1dPointAverage	(	int	x,
		int	y,
		int	delta_x,
		int	delta_y,
		int	no_of_points,
		PointWithRange &	average_point
	)		const `[inline]`

Calculates the average 3D position of the no_of_points points described by the start point x,y in the direction delta. Returns a max range point (range=INFINITY) if the first point is max range and an unobserved point (range=-INFINITY) if non of the points is observed.

Definition at line 796 of file range_image.hpp.

float pcl::RangeImage::getAcutenessValue	(	const PointWithRange &	point1,
		const PointWithRange &	point2
	)		const `[inline]`

Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) will return -INFINITY if one of the points is unobserved

Definition at line 646 of file range_image.hpp.

float pcl::RangeImage::getAcutenessValue	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const `[inline]`

Same as above.

Definition at line 661 of file range_image.hpp.

void pcl::RangeImage::getAcutenessValueImages	(	int	pixel_distance,
		float *&	acuteness_value_image_x,
		float *&	acuteness_value_image_y
	)		const

Calculate getAcutenessValue for every point

Definition at line 869 of file range_image.cpp.

void pcl::RangeImage::getAnglesFromImagePoint	(	float	image_x,
		float	image_y,
		float &	angle_x,
		float &	angle_y
	)		const `[inline]`

Get the angles corresponding to the given image point

Definition at line 596 of file range_image.hpp.

float pcl::RangeImage::getAngularResolution ( ) const [inline]

Getter for the angular resolution of the range image in x direction in radians per pixel. Provided for downwards compatability

Definition at line 355 of file range_image.h.

void pcl::RangeImage::getAngularResolution	(	float &	angular_resolution_x,
		float &	angular_resolution_y
	)		const `[inline]`

Getter for the angular resolution of the range image in x and y direction (in radians).

Definition at line 1206 of file range_image.hpp.

float pcl::RangeImage::getAngularResolutionX ( ) const [inline]

Getter for the angular resolution of the range image in x direction in radians per pixel.

Definition at line 359 of file range_image.h.

float pcl::RangeImage::getAngularResolutionY ( ) const [inline]

Getter for the angular resolution of the range image in y direction in radians per pixel.

Definition at line 363 of file range_image.h.

float pcl::RangeImage::getAverageEuclideanDistance	(	int	x,
		int	y,
		int	offset_x,
		int	offset_y,
		int	max_steps
	)		const `[inline]`

Doing the above for some steps in the given direction and averaging.

Definition at line 851 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >

Eigen::Vector3f pcl::RangeImage::getAverageViewPoint ( const PointCloudTypeWithViewpoints & point_cloud ) [static]

Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z.

Parameters:

point_cloud the input point cloud

Returns:: the average viewpoint (as an Eigen::Vector3f)

Definition at line 1119 of file range_image.hpp.

void pcl::RangeImage::getBlurredImage	(	int	blur_radius,
		RangeImage &	range_image
	)		const

Get a blurred version of the range image using box filters

Definition at line 423 of file range_image.cpp.

void pcl::RangeImage::getBlurredImageUsingIntegralImage	(	int	blur_radius,
		float *	integral_image,
		int *	valid_points_num_image,
		RangeImage &	range_image
	)		const

Get a blurred version of the range image using box filters on the provided integral image

Definition at line 377 of file range_image.cpp.

void pcl::RangeImage::getCoordinateFrameTransformation	(	RangeImage::CoordinateFrame	coordinate_frame,
		Eigen::Affine3f &	transformation
	)		`[static]`

Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.

Parameters:

coordinate_frame	the input coordinate frame
transformation	the resulting transformation that warps coordinate_frame into CAMERA_FRAME

Definition at line 88 of file range_image.cpp.

float pcl::RangeImage::getCurvature	(	int	x,
		int	y,
		int	radius,
		int	step_size
	)		const `[inline]`

Calculates the curvature in a point using pca

Definition at line 1094 of file range_image.hpp.

Eigen::Vector3f pcl::RangeImage::getEigenVector3f ( const PointWithRange & point ) [inline, static]

Get Eigen::Vector3f from PointWithRange.

Parameters:

point the input point

Returns:: an Eigen::Vector3f representation of the input point

Definition at line 789 of file range_image.hpp.

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f	(	int	x,
		int	y
	)		const `[inline]`

Same as above

Definition at line 544 of file range_image.hpp.

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f ( int index ) const [inline]

Same as above

Definition at line 551 of file range_image.hpp.

float pcl::RangeImage::getEuclideanDistanceSquared	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const `[inline]`

Get the squared euclidean distance between the two image points. Returns -INFINITY if one of the points was not observed

Definition at line 836 of file range_image.hpp.

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

Get a range image with half the resolution.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 481 of file range_image.cpp.

int pcl::RangeImage::getImageOffsetX ( ) const [inline]

Getter for image_offset_x_.

Definition at line 633 of file range_image.h.

int pcl::RangeImage::getImageOffsetY ( ) const [inline]

Getter for image_offset_y_.

Definition at line 636 of file range_image.h.

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

Get imagePoint from 3D point in world coordinates

Reimplemented in pcl::RangeImagePlanar.

Definition at line 346 of file range_image.hpp.

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

Same as above

Definition at line 360 of file range_image.hpp.

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

Same as above

Definition at line 368 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		int &	image_x,
		int &	image_y
	)		const `[inline]`

Same as above

Definition at line 376 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		float &	image_x,
		float &	image_y,
		float &	range
	)		const `[inline]`

Same as above

Definition at line 321 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		float &	image_x,
		float &	image_y
	)		const `[inline]`

Same as above

Definition at line 329 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		int &	image_x,
		int &	image_y
	)		const `[inline]`

Same as above

Definition at line 337 of file range_image.hpp.

void pcl::RangeImage::getImagePointFromAngles	(	float	angle_x,
		float	angle_y,
		float &	image_x,
		float &	image_y
	)		const `[inline]`

Get the image point corresponding to the given angles

Definition at line 419 of file range_image.hpp.

float pcl::RangeImage::getImpactAngle	(	const PointWithRange &	point1,
		const PointWithRange &	point2
	)		const `[inline]`

Calculate the impact angle based on the sensor position and the two given points - will return -INFINITY if one of the points is unobserved

Definition at line 614 of file range_image.hpp.

float pcl::RangeImage::getImpactAngle	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const `[inline]`

Same as above.

Definition at line 605 of file range_image.hpp.

float pcl::RangeImage::getImpactAngleBasedOnLocalNormal	(	int	x,
		int	y,
		int	radius
	)		const `[inline]`

Extract a local normal (with a heuristic not to include background points) and calculate the impact angle based on this

Definition at line 879 of file range_image.hpp.

float * pcl::RangeImage::getImpactAngleImageBasedOnLocalNormals ( int radius ) const

Uses the above function for every point in the image

Definition at line 889 of file range_image.cpp.

void pcl::RangeImage::getIntegralImage	(	float *&	integral_image,
		int *&	valid_points_num_image
	)		const

Get the integral image of the range values (used for fast blur operations). You are responsible for deleting it after usage!

Definition at line 332 of file range_image.cpp.

float * pcl::RangeImage::getInterpolatedSurfaceProjection	(	const Eigen::Affine3f &	pose,
		int	pixel_size,
		float	world_size
	)		const

Calculate a range patch as the z values of the coordinate frame given by pose. The patch will have size pixel_size x pixel_size and each pixel covers world_size/pixel_size meters in the world You are responsible for deleting the structure afterwards!

Definition at line 593 of file range_image.cpp.

float * pcl::RangeImage::getInterpolatedSurfaceProjection	(	const Eigen::Vector3f &	point,
		int	pixel_size,
		float	world_size
	)		const

Same as above, but using the local coordinate frame defined by point and the viewing direction.

Definition at line 785 of file range_image.cpp.

float pcl::RangeImage::getMaxAngleSize	(	const Eigen::Affine3f &	viewer_pose,
		const Eigen::Vector3f &	center,
		float	radius
	)		`[inline, static]`

Get the size of a certain area when seen from the given pose.

Parameters:

viewer_pose	an affine matrix defining the pose of the viewer
center	the center of the area
radius	the radius of the area

Returns:: the size of the area as viewed according to viewer_pose

Definition at line 782 of file range_image.hpp.

void pcl::RangeImage::getMinMaxRanges	(	float &	min_range,
		float &	max_range
	)		const

Find the minimum and maximum range in the image.

Definition at line 568 of file range_image.cpp.

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

Return a newly created Range image. Can be reimplmented in derived classes like RangeImagePlanar to return an image of the same type.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 752 of file range_image.h.

bool pcl::RangeImage::getNormal	(	int	x,
		int	y,
		int	radius,
		Eigen::Vector3f &	normal,
		int	step_size = `1`
	)		const `[inline]`

Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius. step_size determines how many pixels are used. 1 means all, 2 only every second, etc.. Returns false if it was unable to calculate a normal.

Definition at line 894 of file range_image.hpp.

float pcl::RangeImage::getNormalBasedAcutenessValue	(	int	x,
		int	y,
		int	radius
	)		const `[inline]`

Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated

Definition at line 920 of file range_image.hpp.

bool pcl::RangeImage::getNormalBasedUprightTransformation	(	const Eigen::Vector3f &	point,
		float	max_dist,
		Eigen::Affine3f &	transformation
	)		const

Get a local coordinate frame at the given point based on the normal.

Definition at line 794 of file range_image.cpp.

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		int	radius,
		const PointWithRange &	point,
		int	no_of_nearest_neighbors,
		Eigen::Vector3f &	normal,
		int	step_size = `1`
	)		const `[inline]`

Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered.

Definition at line 932 of file range_image.hpp.

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		int	radius,
		const Eigen::Vector3f &	point,
		int	no_of_nearest_neighbors,
		Eigen::Vector3f &	normal,
		Eigen::Vector3f *	point_on_plane = `NULL`,
		int	step_size = `1`
	)		const `[inline]`

Same as above

Definition at line 1075 of file range_image.hpp.

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		Eigen::Vector3f &	normal,
		int	radius = `2`
	)		const `[inline]`

Same as above, using default values

Definition at line 940 of file range_image.hpp.

float pcl::RangeImage::getOverlap	(	const RangeImage &	other_range_image,
		const Eigen::Affine3f &	relative_transformation,
		int	search_radius,
		float	max_distance,
		int	pixel_step = `1`
	)		const

Calculates the overlap of two range images given the relative transformation (from the given image to *this)

Definition at line 996 of file range_image.cpp.

const PointWithRange & pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y
	)		const `[inline]`

Return the 3D point with range at the given image position.

Parameters:

image_x	the x coordinate
image_y	the y coordinate

Returns:: the point at the specified location (returns unobserved_point if outside of the image bounds)

Definition at line 473 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y
	)		`[inline]`

Non-const-version of getPoint.

Definition at line 496 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPoint	(	float	image_x,
		float	image_y
	)		const `[inline]`

Return the 3d point with range at the given image position

Definition at line 511 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPoint	(	float	image_x,
		float	image_y
	)		`[inline]`

Non-const-version of the above

Definition at line 520 of file range_image.hpp.

void pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y,
		Eigen::Vector3f &	point
	)		const `[inline]`

Same as above

Definition at line 529 of file range_image.hpp.

void pcl::RangeImage::getPoint	(	int	index,
		Eigen::Vector3f &	point
	)		const `[inline]`

Same as above

Definition at line 537 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPoint ( int index ) const [inline]

Return the 3d point with range at the given index (whereas index=y*width+x)

Definition at line 504 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPointNoCheck	(	int	image_x,
		int	image_y
	)		const `[inline]`

Return the 3D point with range at the given image position. This methd performs no error checking to make sure the specified image position is inside of the image!

Parameters:

image_x	the x coordinate
image_y	the y coordinate

Returns:: the point at the specified location (program may fail if the location is outside of the image bounds)

Definition at line 482 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPointNoCheck	(	int	image_x,
		int	image_y
	)		`[inline]`

Non-const-version of getPointNoCheck

Definition at line 489 of file range_image.hpp.

float pcl::RangeImage::getRangeDifference ( const Eigen::Vector3f & point ) const [inline]

Returns the difference in range between the given point and the range of the point in the image at the position the given point would be. (Return value is point_in_image.range-given_point.range)

Definition at line 399 of file range_image.hpp.

void pcl::RangeImage::getRangeImageWithSmoothedSurface	(	int	radius,
		RangeImage &	smoothed_range_image
	)		const

Project all points on the local plane approximation, thereby smoothing the surface of the scan.

Definition at line 906 of file range_image.cpp.

float * pcl::RangeImage::getRangesArray ( ) const

Get all the range values in one float array of size width*height.

Returns:: a pointer to a new float array containing the range values

Note:: This method allocates a new float array; the caller is responsible for freeing this memory.

Definition at line 320 of file range_image.cpp.

void pcl::RangeImage::getRotationToViewerCoordinateFrame	(	const Eigen::Vector3f &	point,
		Eigen::Affine3f &	transformation
	)		const `[inline]`

Same as above, but only returning the rotation.

Definition at line 1174 of file range_image.hpp.

const Eigen::Vector3f pcl::RangeImage::getSensorPos ( ) const [inline]

Get the sensor position.

Definition at line 670 of file range_image.hpp.

float pcl::RangeImage::getSquaredDistanceOfNthNeighbor	(	int	x,
		int	y,
		int	radius,
		int	n,
		int	step_size
	)		const `[inline]`

Definition at line 1046 of file range_image.hpp.

void pcl::RangeImage::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 in pcl::RangeImagePlanar.

Definition at line 523 of file range_image.cpp.

void pcl::RangeImage::getSurfaceAngleChange	(	int	x,
		int	y,
		int	radius,
		float &	angle_change_x,
		float &	angle_change_y
	)		const `[inline]`

Calculates, how much the surface changes at a point. Returns an angle [0.0f, PI] for x and y direction. A return value of -INFINITY means that a point was unobserved.

Definition at line 677 of file range_image.hpp.

void pcl::RangeImage::getSurfaceAngleChangeImages	(	int	radius,
		float *&	angle_change_image_x,
		float *&	angle_change_image_y
	)		const

Uses the above function for every point in the image

Definition at line 851 of file range_image.cpp.

PCL_EXPORTS float pcl::RangeImage::getSurfaceChange	(	int	x,
		int	y,
		int	radius
	)		const

Calculates, how much the surface changes at a point. Pi meaning a flat suface and 0.0f would be a needle point Calculates, how much the surface changes at a point. 1 meaning a 90deg angle and 0 a flat suface

PCL_EXPORTS float* pcl::RangeImage::getSurfaceChangeImage ( int radius ) const

Uses the above function for every point in the image

bool pcl::RangeImage::getSurfaceInformation	(	int	x,
		int	y,
		int	radius,
		const Eigen::Vector3f &	point,
		int	no_of_closest_neighbors,
		int	step_size,
		float &	max_closest_neighbor_distance_squared,
		Eigen::Vector3f &	normal,
		Eigen::Vector3f &	mean,
		Eigen::Vector3f &	eigen_values,
		Eigen::Vector3f *	normal_all_neighbors = `NULL`,
		Eigen::Vector3f *	mean_all_neighbors = `NULL`,
		Eigen::Vector3f *	eigen_values_all_neighbors = `NULL`
	)		const `[inline]`

Same as above but extracts some more data and can also return the extracted information for all neighbors in radius if normal_all_neighbors is not NULL

Definition at line 960 of file range_image.hpp.

const Eigen::Affine3f& pcl::RangeImage::getTransformationToRangeImageSystem ( ) const [inline]

Getter for the transformation from the world system into the range image system (the sensor coordinate frame)

Definition at line 340 of file range_image.h.

Eigen::Affine3f pcl::RangeImage::getTransformationToViewerCoordinateFrame ( const Eigen::Vector3f & point ) const [inline]

Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.

Definition at line 1157 of file range_image.hpp.

void pcl::RangeImage::getTransformationToViewerCoordinateFrame	(	const Eigen::Vector3f &	point,
		Eigen::Affine3f &	transformation
	)		const `[inline]`

Same as above, using a reference for the retrurn value.

Definition at line 1166 of file range_image.hpp.

const Eigen::Affine3f& pcl::RangeImage::getTransformationToWorldSystem ( ) const [inline]

Getter for the transformation from the range image system (the sensor coordinate frame) into the world system

Definition at line 350 of file range_image.h.

bool pcl::RangeImage::getViewingDirection	(	int	x,
		int	y,
		Eigen::Vector3f &	viewing_direction
	)		const `[inline]`

Get the viewing direction for the given point

Definition at line 1140 of file range_image.hpp.

void pcl::RangeImage::getViewingDirection	(	const Eigen::Vector3f &	point,
		Eigen::Vector3f &	viewing_direction
	)		const `[inline]`

Get the viewing direction for the given point

Definition at line 1150 of file range_image.hpp.

void pcl::RangeImage::integrateFarRanges ( const PointCloud< PointWithViewpoint > & far_ranges )

Integrates the given far range measurements into the range image.

Definition at line 172 of file range_image.cpp.

bool pcl::RangeImage::isInImage	(	int	x,
		int	y
	)		const `[inline]`

Check if a point is inside of the image

Definition at line 435 of file range_image.hpp.

bool pcl::RangeImage::isMaxRange	(	int	x,
		int	y
	)		const `[inline]`

Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!

Definition at line 465 of file range_image.hpp.

bool pcl::RangeImage::isObserved	(	int	x,
		int	y
	)		const `[inline]`

Check if a point is inside of the image and has either a finite range or a max reading (range=INFINITY)

Definition at line 456 of file range_image.hpp.

bool pcl::RangeImage::isValid	(	int	x,
		int	y
	)		const `[inline]`

Check if a point is inside of the image and has a finite range

Definition at line 442 of file range_image.hpp.

bool pcl::RangeImage::isValid ( int index ) const [inline]

Check if a point has a finite range

Definition at line 449 of file range_image.hpp.

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

Get a boost shared pointer of a copy of this.

Reimplemented in pcl::RangeImagePlanar.

Definition at line 125 of file range_image.h.

void pcl::RangeImage::real2DToInt2D	(	float	x,
		float	y,
		int &	xInt,
		int &	yInt
	)		const `[inline]`

Transforms an image point in float values to an image point in int values

Definition at line 427 of file range_image.hpp.

void pcl::RangeImage::recalculate3DPointPositions ( )

Recalculate all 3D point positions according to their pixel position and range

Definition at line 305 of file range_image.cpp.

void pcl::RangeImage::reset ( )

Reset all values to an empty range image.

Definition at line 129 of file range_image.cpp.

void pcl::RangeImage::setAngularResolution ( float angular_resolution ) [inline]

Set the angular resolution of the range image.

Parameters:

angular_resolution the new angular resolution in x and y direction (in radians per pixel)

Definition at line 1182 of file range_image.hpp.

void pcl::RangeImage::setAngularResolution	(	float	angular_resolution_x,
		float	angular_resolution_y
	)		`[inline]`

Set the angular resolution of the range image.

Parameters:

angular_resolution_x	the new angular resolution in x direction (in radians per pixel)
angular_resolution_y	the new angular resolution in y direction (in radians per pixel)

Definition at line 1190 of file range_image.hpp.