libvisiontransfer  8.1.0
reconstruct3d.h
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14 
15 #ifndef VISIONTRANSFER_RECONSTRUCT3D_H
16 #define VISIONTRANSFER_RECONSTRUCT3D_H
17 
18 #include <limits>
19 #include <stdexcept>
20 #include "visiontransfer/common.h"
21 #include "visiontransfer/imageset.h"
22 
23 namespace visiontransfer {
24 
31 class VT_EXPORT Reconstruct3D {
32 public:
36  Reconstruct3D();
37 
38  ~Reconstruct3D();
39 
70  float* createPointMap(const unsigned short* dispMap, int width, int height,
71  int rowStride, const float* q, unsigned short minDisparity = 1);
72 
85  float* createPointMap(const ImageSet& imageSet, unsigned short minDisparity = 1);
86 
107  void projectSinglePoint(int imageX, int imageY, unsigned short disparity, const float* q,
108  float& pointX, float& pointY, float& pointZ);
109 
135  void writePlyFile(const char* file, const unsigned short* dispMap,
136  const unsigned char* image, int width, int height, ImageSet::ImageFormat format,
137  int dispRowStride, int imageRowStride, const float* q,
138  double maxZ = std::numeric_limits<double>::max(),
139  bool binary = false);
140 
156  void writePlyFile(const char* file, const ImageSet& imageSet,
157  double maxZ = std::numeric_limits<double>::max(), bool binary = false);
158 
159 #ifdef PCL_MAJOR_VERSION
160 
175  inline pcl::PointCloud<pcl::PointXYZ>::Ptr createXYZCloud(const ImageSet& imageSet,
176  const char* frameId, unsigned short minDisparity = 0);
177 
183  inline pcl::PointCloud<pcl::PointXYZI>::Ptr createXYZICloud(const ImageSet& imageSet,
184  const char* frameId, unsigned short minDisparity = 0);
185 
191  inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr createXYZRGBCloud(const ImageSet& imageSet,
192  const char* frameId, unsigned short minDisparity = 0);
193 #endif
194 
195 private:
196  // We follow the pimpl idiom
197  class Pimpl;
198  Pimpl* pimpl;
199 
200  // This class cannot be copied
201  Reconstruct3D(const Reconstruct3D& other);
202  Reconstruct3D& operator=(const Reconstruct3D&);
203 
204 #ifdef PCL_MAJOR_VERSION
205  // Initializes a PCL point cloud
206  template <typename T>
207  typename pcl::PointCloud<T>::Ptr initPointCloud(const ImageSet& imageSet, const char* frameId);
208 #endif
209 };
210 
211 } // namespace
212 
213 #include "visiontransfer/reconstruct3d-pcl.h"
214 
215 #endif
Transforms a disparity map into a set of 3D points.
Definition: reconstruct3d.h:31
ImageFormat
Image formats that can be transferred.
Definition: imageset.h:44
A set of one to three images, but usually two (the left camera image and the disparity map)...
Definition: imageset.h:38
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