pcl::DigitalElevationMapBuilder Class Reference

Build a Digital Elevation Map in the column-disparity space from a disparity map and a color image of the scene. More...

#include <pcl/stereo/digital_elevation_map.h>

Inheritance diagram for pcl::DigitalElevationMapBuilder:

Collaboration diagram for pcl::DigitalElevationMapBuilder:

Public Member Functions
	DigitalElevationMapBuilder ()
	DigitalElevationMapBuilder constructor. More...
	~DigitalElevationMapBuilder () override
	Empty destructor. More...
void	setResolution (std::size_t resolution_column, std::size_t resolution_disparity)
	Set resolution of the DEM. More...
std::size_t	getColumnResolution () const
	Get column resolution of the DEM. More...
std::size_t	getDisparityResolution () const
	Get disparity resolution of the DEM. More...
void	setMinPointsInCell (std::size_t min_points_in_cell)
	Set minimum amount of points in a DEM's cell. More...
std::size_t	getMinPointsInCell () const
	Get minimum amount of points in a DEM's cell. More...
void	compute (pcl::PointCloud< PointDEM > &out_cloud) override
	Compute the Digital Elevation Map. More...
Public Member Functions inherited from pcl::DisparityMapConverter< PointDEM >
	DisparityMapConverter ()
	DisparityMapConverter constructor. More...
virtual	~DisparityMapConverter ()
	Empty destructor. More...
void	setImageCenterX (const float center_x)
	Set x-coordinate of the image center. More...
float	getImageCenterX () const
	Get x-coordinate of the image center. More...
void	setImageCenterY (const float center_y)
	Set y-coordinate of the image center. More...
float	getImageCenterY () const
	Get y-coordinate of the image center. More...
void	setFocalLength (const float focal_length)
	Set focal length. More...
float	getFocalLength () const
	Get focal length. More...
void	setBaseline (const float baseline)
	Set baseline. More...
float	getBaseline () const
	Get baseline. More...
void	setDisparityThresholdMin (const float disparity_threshold_min)
	Set min disparity threshold. More...
float	getDisparityThresholdMin () const
	Get min disparity threshold. More...
void	setDisparityThresholdMax (const float disparity_threshold_max)
	Set max disparity threshold. More...
float	getDisparityThresholdMax () const
	Get max disparity threshold. More...
void	setImage (const pcl::PointCloud< pcl::RGB >::ConstPtr &image)
	Set an image, that will be used for coloring of the output cloud. More...
pcl::PointCloud< RGB >::Ptr	getImage ()
	Get the image, that is used for coloring of the output cloud. More...
bool	loadDisparityMap (const std::string &file_name)
	Load the disparity map. More...
bool	loadDisparityMap (const std::string &file_name, const std::size_t width, const std::size_t height)
	Load the disparity map and initialize it's size. More...
void	setDisparityMap (const std::vector< float > &disparity_map)
	Set the disparity map. More...
void	setDisparityMap (const std::vector< float > &disparity_map, const std::size_t width, const std::size_t height)
	Set the disparity map and initialize it's size. More...
std::vector< float >	getDisparityMap ()
	Get the disparity map. More...
virtual void	compute (PointCloud &out_cloud)
	Compute the output cloud. More...

Protected Attributes
std::size_t	resolution_column_ {64}
	Column resolution of the DEM. More...
std::size_t	resolution_disparity_ {32}
	disparity resolution of the DEM. More...
std::size_t	min_points_in_cell_ {1}
	Minimum amount of points in a DEM's cell. More...
Protected Attributes inherited from pcl::DisparityMapConverter< PointDEM >
float	center_x_
	X-coordinate of the image center. More...
float	center_y_
	Y-coordinate of the image center. More...
float	focal_length_
	Focal length. More...
float	baseline_
	Baseline. More...
bool	is_color_
	Is color image is set. More...
pcl::PointCloud< pcl::RGB >::ConstPtr	image_
	Color image of the scene. More...
std::vector< float >	disparity_map_
	Vector for the disparity map. More...
std::size_t	disparity_map_width_
	X-size of the disparity map. More...
std::size_t	disparity_map_height_
	Y-size of the disparity map. More...
float	disparity_threshold_min_
	Thresholds of the disparity. More...
float	disparity_threshold_max_

Additional Inherited Members
Protected Types inherited from pcl::DisparityMapConverter< PointDEM >
using	PointCloud = pcl::PointCloud< PointDEM >
Protected Member Functions inherited from pcl::DisparityMapConverter< PointDEM >
PointXYZ	translateCoordinates (std::size_t row, std::size_t column, float disparity) const
	Translate point from image coordinates and disparity to 3D-coordinates. More...

Detailed Description

Build a Digital Elevation Map in the column-disparity space from a disparity map and a color image of the scene.

Example of usage:

pcl::PointCloud<pcl::PointDEM>::Ptr cloud (new
    pcl::PointCloud<pcl::PointDEM>);
pcl::PointCloud<pcl::RGB>::Ptr left_image (new
  pcl::PointCloud<pcl::RGB>);
// Fill left image cloud.
 
pcl::DigitalElevationMapBuilder demb;
demb.setBaseline (0.8387445f);
demb.setFocalLength (368.534700f);
demb.setImageCenterX (318.112200f);
demb.setImageCenterY (224.334900f);
demb.setDisparityThresholdMin (15.0f);
demb.setDisparityThresholdMax (80.0f);
demb.setResolution (64, 32);
 
// Left view of the scene.
demb.loadImage (left_image);
// Disparity map of the scene.
demb.loadDisparityMap ("disparity_map.txt", 640, 480);
 
demb.compute(*cloud);

Author

Timur Ibadov (ibado.nosp@m.v.ti.nosp@m.mur@g.nosp@m.mail.nosp@m..com)

Definition at line 76 of file digital_elevation_map.h.

Constructor & Destructor Documentation

DigitalElevationMapBuilder()

pcl::DigitalElevationMapBuilder::DigitalElevationMapBuilder

(

)

DigitalElevationMapBuilder constructor.

~DigitalElevationMapBuilder()

pcl::DigitalElevationMapBuilder::~DigitalElevationMapBuilder ( )

override

Empty destructor.

Member Function Documentation

compute()

void pcl::DigitalElevationMapBuilder::compute ( pcl::PointCloud< PointDEM > &  out_cloud )

override

Compute the Digital Elevation Map.

Parameters

[out]

out_cloud

the variable to return the resulting cloud.

getColumnResolution()

std::size_t pcl::DigitalElevationMapBuilder::getColumnResolution

(

)

const

Get column resolution of the DEM.

Returns

column resolution of the DEM.

getDisparityResolution()

std::size_t pcl::DigitalElevationMapBuilder::getDisparityResolution

(

)

const

Get disparity resolution of the DEM.

Returns

disparity resolution of the DEM.

getMinPointsInCell()

std::size_t pcl::DigitalElevationMapBuilder::getMinPointsInCell

(

)

const

Get minimum amount of points in a DEM's cell.

Returns

minimum amount of points in a DEM's cell.

setMinPointsInCell()

void pcl::DigitalElevationMapBuilder::setMinPointsInCell

(

std::size_t

min_points_in_cell

)

Set minimum amount of points in a DEM's cell.

Parameters

[in]

min_points_in_cell

minimum amount of points in a DEM's cell.

setResolution()

void pcl::DigitalElevationMapBuilder::setResolution	(	std::size_t	resolution_column,
		std::size_t	resolution_disparity
	)

Set resolution of the DEM.

Parameters

[in]	resolution_column	the column resolution.
[in]	resolution_disparity	the disparity resolution.

Member Data Documentation

min_points_in_cell_

std::size_t pcl::DigitalElevationMapBuilder::min_points_in_cell_ {1}

protected

Minimum amount of points in a DEM's cell.

Definition at line 136 of file digital_elevation_map.h.

resolution_column_

std::size_t pcl::DigitalElevationMapBuilder::resolution_column_ {64}

protected

Column resolution of the DEM.

Definition at line 132 of file digital_elevation_map.h.

resolution_disparity_

std::size_t pcl::DigitalElevationMapBuilder::resolution_disparity_ {32}

protected

disparity resolution of the DEM.

Definition at line 134 of file digital_elevation_map.h.

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

• pcl/stereo/digital_elevation_map.h