The ModelToImage class provides methods to re-project 3D laser scans to image planes. More...

#include <ModelToImage.hpp>

Classes
struct	DepthPixel
	Pixelcoordinates with depth value. More...

struct	DI
	Image with single depth information. More...

struct	PanoPoint

struct	PLI
	Image with list of projected points at each pixel. More...

Public Types
enum	CoordinateSystem { NATIVE, SLAM6D, UOS }

typedef struct lvr2::ModelToImage::DI	DepthImage
	Image with single depth information. More...

typedef struct lvr2::ModelToImage::PLI	DepthListMatrix
	Image with list of projected points at each pixel. More...

typedef struct lvr2::ModelToImage::PanoPoint	PanoramaPoint

enum	ProjectionPolicy { FIRST, LAST, MINRANGE, MAXRANGE, AVERAGE, COLOR, INTENSITY }

enum	ProjectionType { CYLINDRICAL, CONICAL, EQUALAREACYLINDRICAL, RECTILINEAR, PANNINI, STEREOGRAPHIC, ZAXIS, AZIMUTHAL }
	The ProjectionType enum. More...

Public Member Functions
void	computeDepthImage (DepthImage &img, ProjectionPolicy policy=LAST)
	Computes a depth image from the given scan using the specified policy. More...

void	computeDepthListMatrix (DepthListMatrix &mat)
	Computes a DepthListMatrix, i.e., an image matrix where each entry holds a vector of all points that where projected to that image position. More...

void	getCVMatrix (cv::Mat &image)

	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. More...

PointBufferPtr	pointBuffer ()
	Retruns the point buffer. More...

void	writePGM (string filename, float cutoff)
	Writes the scan panaroma to an pgm file. More...

virtual	~ModelToImage ()
	Destructor. More...

Private Attributes
CoordinateSystem	m_coordinateSystem
	Set this to true if you are using a left-handed coordinate system. More...

int	m_height
	Image height. More...

int	m_maxHAngle
	Max horizontal opening angle. More...

int	m_maxVAngle
	Max horizontal opening angle. More...

float	m_maxZ
	Maximal z value that will be projected. More...

int	m_minHAngle
	Min horizontal opening angle. More...

int	m_minVAngle
	Min horizontal opening angle. More...

float	m_minZ
	Minimal z value that will be projected. More...

bool	m_optimize
	Image optimization flag. More...

PointBufferPtr	m_points
	Pointer to the initial point cloud. More...

Projection *	m_projection
	Pointer to projection. More...

int	m_width
	Image width. More...

Detailed Description

The ModelToImage class provides methods to re-project 3D laser scans to image planes.

Definition at line 55 of file ModelToImage.hpp.

Member Typedef Documentation

◆ DepthImage

typedef struct lvr2::ModelToImage::DI lvr2::ModelToImage::DepthImage

Image with single depth information.

◆ DepthListMatrix

typedef struct lvr2::ModelToImage::PLI lvr2::ModelToImage::DepthListMatrix

Image with list of projected points at each pixel.

◆ PanoramaPoint

typedef struct lvr2::ModelToImage::PanoPoint lvr2::ModelToImage::PanoramaPoint

Member Enumeration Documentation

◆ CoordinateSystem

enum lvr2::ModelToImage::CoordinateSystem

Enumerator
NATIVE
SLAM6D
UOS

Definition at line 110 of file ModelToImage.hpp.

◆ ProjectionPolicy

enum lvr2::ModelToImage::ProjectionPolicy

Enumerator
FIRST
LAST
MINRANGE
MAXRANGE
AVERAGE
COLOR
INTENSITY

Definition at line 105 of file ModelToImage.hpp.

◆ ProjectionType

enum lvr2::ModelToImage::ProjectionType

The ProjectionType enum.

Enumerator
CYLINDRICAL
CONICAL
EQUALAREACYLINDRICAL
RECTILINEAR
PANNINI
STEREOGRAPHIC
ZAXIS
AZIMUTHAL

Definition at line 99 of file ModelToImage.hpp.

Constructor & Destructor Documentation

◆ ModelToImage()

lvr2::ModelToImage::ModelToImage	(	PointBufferPtr	buffer,
		ModelToImage::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.

Parameters

buffer	A point buffer containing a point cloud
projection	Type of used projection
width	Desired image with. May be changed to fit panorama angles
height	Desired image height. May be changed to fit panorama angles
minZ	Minimum depth value
maxZ	Maximum depth value
minHorizontenAngle	Start of horizontal field of view in degrees
maxHorizontalAngle	End of horizontal field of view in degrees
mainVerticalAngle	Start of vertical field of view in degrees
maxVerticalAngle	End of vertical field of view in degrees
imageOptimization	If true, the aspect ration will be adapted to the chosen field of view
leftHandedInputData	Set this to true of the scan points are in a left handed coordinate system (like 3dtk)

Definition at line 52 of file ModelToImage.cpp.

◆ ~ModelToImage()

lvr2::ModelToImage::~ModelToImage ( )

virtual

Destructor.

Definition at line 86 of file ModelToImage.cpp.

Member Function Documentation

◆ computeDepthImage()

void lvr2::ModelToImage::computeDepthImage	(	ModelToImage::DepthImage &	img,
		ModelToImage::ProjectionPolicy	policy = `LAST`
	)

Computes a depth image from the given scan using the specified policy.

Parameters

img	A DepthImage to store the projection result.
policy	Specifies how the entries are generated. FIRST stores the first projected distance. LAST the last distance. MINRANGE and MAXRANGE the minimal and maximal projected distances. AVERAGE averages over all encountered distances.

Definition at line 143 of file ModelToImage.cpp.

◆ computeDepthListMatrix()

void lvr2::ModelToImage::computeDepthListMatrix ( DepthListMatrix & mat )

Computes a DepthListMatrix, i.e., an image matrix where each entry holds a vector of all points that where projected to that image position.

Parameters

mat	The generated DepthListMatrix

Definition at line 91 of file ModelToImage.cpp.

◆ getCVMatrix()

void lvr2::ModelToImage::getCVMatrix ( cv::Mat & image )

◆ pointBuffer()

PointBufferPtr lvr2::ModelToImage::pointBuffer ( )

inline

Retruns the point buffer.

Definition at line 186 of file ModelToImage.hpp.

◆ writePGM()

void lvr2::ModelToImage::writePGM	(	string	filename,
		float	cutoff
	)

Writes the scan panaroma to an pgm file.

Parameters

filename	Filename of the bitmap
cutoff	Max range cutoff. Reduce this to enhance contrast on pixels with low depths.

Definition at line 192 of file ModelToImage.cpp.

Member Data Documentation

◆ m_coordinateSystem

CoordinateSystem lvr2::ModelToImage::m_coordinateSystem

private

Set this to true if you are using a left-handed coordinate system.

Definition at line 219 of file ModelToImage.hpp.

◆ m_height

int lvr2::ModelToImage::m_height

private

Image height.

Definition at line 201 of file ModelToImage.hpp.

◆ m_maxHAngle

int lvr2::ModelToImage::m_maxHAngle

private

Max horizontal opening angle.

Definition at line 207 of file ModelToImage.hpp.

◆ m_maxVAngle

int lvr2::ModelToImage::m_maxVAngle

private

Max horizontal opening angle.

Definition at line 213 of file ModelToImage.hpp.

◆ m_maxZ

float lvr2::ModelToImage::m_maxZ

private

Maximal z value that will be projected.

Definition at line 222 of file ModelToImage.hpp.

◆ m_minHAngle

int lvr2::ModelToImage::m_minHAngle

private

Min horizontal opening angle.

Definition at line 204 of file ModelToImage.hpp.

◆ m_minVAngle

int lvr2::ModelToImage::m_minVAngle

private

Min horizontal opening angle.

Definition at line 210 of file ModelToImage.hpp.

◆ m_minZ

float lvr2::ModelToImage::m_minZ

private

Minimal z value that will be projected.

Definition at line 225 of file ModelToImage.hpp.

◆ m_optimize

bool lvr2::ModelToImage::m_optimize

private

Image optimization flag.

Definition at line 216 of file ModelToImage.hpp.

◆ m_points

PointBufferPtr lvr2::ModelToImage::m_points

private

Pointer to the initial point cloud.

Definition at line 195 of file ModelToImage.hpp.

◆ m_projection

Projection* lvr2::ModelToImage::m_projection

private

Pointer to projection.

Definition at line 192 of file ModelToImage.hpp.

◆ m_width

int lvr2::ModelToImage::m_width

private

Image width.

Definition at line 198 of file ModelToImage.hpp.

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

Classes

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ DepthImage

◆ DepthListMatrix

◆ PanoramaPoint

Member Enumeration Documentation

◆ CoordinateSystem

◆ ProjectionPolicy

◆ ProjectionType

Constructor & Destructor Documentation

◆ ModelToImage()

◆ ~ModelToImage()

Member Function Documentation

◆ computeDepthImage()

◆ computeDepthListMatrix()

◆ getCVMatrix()

◆ pointBuffer()

◆ writePGM()

Member Data Documentation

◆ m_coordinateSystem

◆ m_height

◆ m_maxHAngle

◆ m_maxVAngle

◆ m_maxZ

◆ m_minHAngle

◆ m_minVAngle

◆ m_minZ

◆ m_optimize

◆ m_points

◆ m_projection

◆ m_width