Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 */ 00037 00038 #ifndef PCL_RANGE_IMAGE_PLANAR_H_ 00039 #define PCL_RANGE_IMAGE_PLANAR_H_ 00040 00041 #include <pcl/range_image/range_image.h> 00042 00043 namespace pcl 00044 { 00045 /** \brief @b RangeImagePlanar is derived from the original range image and differs from it because it's not a 00046 * spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable 00047 * for range sensors that already provide a range image by themselves (stereo cameras, ToF-cameras), so that 00048 * a conversion to point cloud and then to a spherical range image becomes unnecessary. 00049 * \author Bastian Steder 00050 * \ingroup range_image 00051 */ 00052 class RangeImagePlanar : public RangeImage 00053 { 00054 public: 00055 // =====TYPEDEFS===== 00056 typedef RangeImage BaseClass; 00057 typedef boost::shared_ptr<RangeImagePlanar> Ptr; 00058 typedef boost::shared_ptr<const RangeImagePlanar> ConstPtr; 00059 00060 // =====CONSTRUCTOR & DESTRUCTOR===== 00061 /** Constructor */ 00062 PCL_EXPORTS RangeImagePlanar (); 00063 /** Destructor */ 00064 PCL_EXPORTS virtual ~RangeImagePlanar (); 00065 00066 /** Return a newly created RangeImagePlanar. 00067 * Reimplmentation to return an image of the same type. */ 00068 virtual RangeImage* 00069 getNew () const { return new RangeImagePlanar; } 00070 00071 /** Copy *this to other. Derived version - also copying additonal RangeImagePlanar members */ 00072 PCL_EXPORTS virtual void 00073 copyTo (RangeImage& other) const; 00074 00075 // =====PUBLIC METHODS===== 00076 /** \brief Get a boost shared pointer of a copy of this */ 00077 inline Ptr 00078 makeShared () { return Ptr (new RangeImagePlanar (*this)); } 00079 00080 /** \brief Create the image from an existing disparity image. 00081 * \param disparity_image the input disparity image data 00082 * \param di_width the disparity image width 00083 * \param di_height the disparity image height 00084 * \param focal_length the focal length of the primary camera that generated the disparity image 00085 * \param base_line the baseline of the stereo pair that generated the disparity image 00086 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as 00087 * close to this angular resolution as possible while not going over this value (the density will not be 00088 * lower than this value). The value is in radians per pixel. 00089 */ 00090 PCL_EXPORTS void 00091 setDisparityImage (const float* disparity_image, int di_width, int di_height, 00092 float focal_length, float base_line, float desired_angular_resolution=-1); 00093 00094 /** Create the image from an existing depth image. 00095 * \param depth_image the input depth image data as float values 00096 * \param di_width the disparity image width 00097 * \param di_height the disparity image height 00098 * \param di_center_x the x-coordinate of the camera's center of projection 00099 * \param di_center_y the y-coordinate of the camera's center of projection 00100 * \param di_focal_length_x the camera's focal length in the horizontal direction 00101 * \param di_focal_length_y the camera's focal length in the vertical direction 00102 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as 00103 * close to this angular resolution as possible while not going over this value (the density will not be 00104 * lower than this value). The value is in radians per pixel. 00105 */ 00106 PCL_EXPORTS void 00107 setDepthImage (const float* depth_image, int di_width, int di_height, float di_center_x, float di_center_y, 00108 float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1); 00109 00110 /** Create the image from an existing depth image. 00111 * \param depth_image the input disparity image data as short values describing millimeters 00112 * \param di_width the disparity image width 00113 * \param di_height the disparity image height 00114 * \param di_center_x the x-coordinate of the camera's center of projection 00115 * \param di_center_y the y-coordinate of the camera's center of projection 00116 * \param di_focal_length_x the camera's focal length in the horizontal direction 00117 * \param di_focal_length_y the camera's focal length in the vertical direction 00118 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as 00119 * close to this angular resolution as possible while not going over this value (the density will not be 00120 * lower than this value). The value is in radians per pixel. 00121 */ 00122 PCL_EXPORTS void 00123 setDepthImage (const unsigned short* depth_image, int di_width, int di_height, float di_center_x, float di_center_y, 00124 float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1); 00125 00126 /** Create the image from an existing point cloud. 00127 * \param point_cloud the source point cloud 00128 * \param di_width the disparity image width 00129 * \param di_height the disparity image height 00130 * \param di_center_x the x-coordinate of the camera's center of projection 00131 * \param di_center_y the y-coordinate of the camera's center of projection 00132 * \param di_focal_length_x the camera's focal length in the horizontal direction 00133 * \param di_focal_length_y the camera's focal length in the vertical direction 00134 * \param sensor_pose the pose of the virtual depth camera 00135 * \param coordinate_frame the used coordinate frame of the point cloud 00136 * \param noise_level what is the typical noise of the sensor - is used for averaging in the z-buffer 00137 * \param min_range minimum range to consifder points 00138 */ 00139 template <typename PointCloudType> void 00140 createFromPointCloudWithFixedSize (const PointCloudType& point_cloud, 00141 int di_width, int di_height, float di_center_x, float di_center_y, 00142 float di_focal_length_x, float di_focal_length_y, 00143 const Eigen::Affine3f& sensor_pose, 00144 CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, 00145 float min_range=0.0f); 00146 00147 // Since we reimplement some of these overloaded functions, we have to do the following: 00148 using RangeImage::calculate3DPoint; 00149 using RangeImage::getImagePoint; 00150 00151 /** \brief Calculate the 3D point according to the given image point and range 00152 * \param image_x the x image position 00153 * \param image_y the y image position 00154 * \param range the range 00155 * \param point the resulting 3D point 00156 * \note Implementation according to planar range images (compared to spherical as in the original) 00157 */ 00158 virtual inline void 00159 calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const; 00160 00161 /** \brief Calculate the image point and range from the given 3D point 00162 * \param point the resulting 3D point 00163 * \param image_x the resulting x image position 00164 * \param image_y the resulting y image position 00165 * \param range the resulting range 00166 * \note Implementation according to planar range images (compared to spherical as in the original) 00167 */ 00168 virtual inline void 00169 getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const; 00170 00171 /** Get a sub part of the complete image as a new range image. 00172 * \param sub_image_image_offset_x - The x coordinate of the top left pixel of the sub image. 00173 * This is always according to absolute 0,0 meaning -180°,-90° 00174 * and it is already in the system of the new image, so the 00175 * actual pixel used in the original image is 00176 * combine_pixels* (image_offset_x-image_offset_x_) 00177 * \param sub_image_image_offset_y - Same as image_offset_x for the y coordinate 00178 * \param sub_image_width - width of the new image 00179 * \param sub_image_height - height of the new image 00180 * \param combine_pixels - shrinking factor, meaning the new angular resolution 00181 * is combine_pixels times the old one 00182 * \param sub_image - the output image 00183 */ 00184 PCL_EXPORTS virtual void 00185 getSubImage (int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, 00186 int sub_image_height, int combine_pixels, RangeImage& sub_image) const; 00187 00188 //! Get a range image with half the resolution 00189 PCL_EXPORTS virtual void 00190 getHalfImage (RangeImage& half_image) const; 00191 00192 //! Getter for the focal length in X 00193 inline float 00194 getFocalLengthX () const { return focal_length_x_; } 00195 00196 //! Getter for the focal length in Y 00197 inline float 00198 getFocalLengthY () const { return focal_length_y_; } 00199 00200 //! Getter for the principal point in X 00201 inline float 00202 getCenterX () const { return center_x_; } 00203 00204 //! Getter for the principal point in Y 00205 inline float 00206 getCenterY () const { return center_y_; } 00207 00208 00209 protected: 00210 float focal_length_x_, focal_length_y_; //!< The focal length of the image in pixels 00211 float focal_length_x_reciprocal_, focal_length_y_reciprocal_; //!< 1/focal_length -> for internal use 00212 float center_x_, center_y_; //!< The principle point of the image 00213 }; 00214 } // namespace end 00215 00216 00217 #include <pcl/range_image/impl/range_image_planar.hpp> // Definitions of templated and inline functions 00218 00219 #endif //#ifndef PCL_RANGE_IMAGE_H_