Compute point cloud from the disparity map. More...

#include <pcl/stereo/disparity_map_converter.h>

Inheritance diagram for pcl::DisparityMapConverter< PointT >:

Collaboration diagram for pcl::DisparityMapConverter< PointT >:

Public Member Functions
	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 Types
using	PointCloud = pcl::PointCloud< PointT >

Protected Member Functions
PointXYZ	translateCoordinates (std::size_t row, std::size_t column, float disparity) const
	Translate point from image coordinates and disparity to 3D-coordinates. More...

Protected Attributes
float	center_x_ {0.0f}
	X-coordinate of the image center. More...

float	center_y_ {0.0f}
	Y-coordinate of the image center. More...

float	focal_length_ {0.0f}
	Focal length. More...

float	baseline_ {0.0f}
	Baseline. More...

bool	is_color_ {false}
	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_ {640}
	X-size of the disparity map. More...

std::size_t	disparity_map_height_ {480}
	Y-size of the disparity map. More...

float	disparity_threshold_min_ {0.0f}
	Thresholds of the disparity. More...

float	disparity_threshold_max_

Detailed Description

template<typename PointT>
class pcl::DisparityMapConverter< PointT >

Compute point cloud from the disparity map.

Example of usage:

pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new
  pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::RGB>::Ptr left_image (new
  pcl::PointCloud<pcl::RGB>);
// Fill left image cloud.
 
pcl::DisparityMapConverter<pcl::PointXYZI> dmc;
dmc.setBaseline (0.8387445f);
dmc.setFocalLength (368.534700f);
dmc.setImageCenterX (318.112200f);
dmc.setImageCenterY (224.334900f);
dmc.setDisparityThresholdMin(15.0f);
 
// Left view of the scene.
dmc.setImage (left_image);
// Disparity map of the scene.
dmc.loadDisparityMap ("disparity_map.txt", 640, 480);
 
dmc.compute(*cloud);

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

Definition at line 77 of file disparity_map_converter.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >

using pcl::DisparityMapConverter< PointT >::PointCloud = pcl::PointCloud<PointT>

protected

Definition at line 79 of file disparity_map_converter.h.

Constructor & Destructor Documentation

◆ DisparityMapConverter()

template<typename PointT >

pcl::DisparityMapConverter< PointT >::DisparityMapConverter

DisparityMapConverter constructor.

Definition at line 49 of file disparity_map_converter.hpp.

◆ ~DisparityMapConverter()

template<typename PointT >

pcl::DisparityMapConverter< PointT >::~DisparityMapConverter ( )

virtualdefault

Empty destructor.

Member Function Documentation

◆ compute()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::compute ( PointCloud & out_cloud )

virtual

Compute the output cloud.

Parameters

[out] out_cloud the variable to return the resulting cloud.

Definition at line 238 of file disparity_map_converter.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), pcl::common::IntensityFieldAccessor< PointT >::set(), and pcl::PointCloud< PointT >::width.

◆ getBaseline()

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::getBaseline

inline

Get baseline.

Returns: the baseline.

Definition at line 107 of file disparity_map_converter.hpp.

◆ getDisparityMap()

template<typename PointT >

std::vector< float > pcl::DisparityMapConverter< PointT >::getDisparityMap

Get the disparity map.

Returns: the disparity map.

Definition at line 231 of file disparity_map_converter.hpp.

◆ getDisparityThresholdMax()

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::getDisparityThresholdMax

inline

Get max disparity threshold.

Returns: max disparity threshold.

Definition at line 137 of file disparity_map_converter.hpp.

◆ getDisparityThresholdMin()

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::getDisparityThresholdMin

inline

Get min disparity threshold.

Returns: min disparity threshold.

Definition at line 122 of file disparity_map_converter.hpp.

◆ getFocalLength()

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::getFocalLength

inline

Get focal length.

Returns: the focal length.

Definition at line 93 of file disparity_map_converter.hpp.

◆ getImage()

template<typename PointT >

pcl::PointCloud< pcl::RGB >::Ptr pcl::DisparityMapConverter< PointT >::getImage

Get the image, that is used for coloring of the output cloud.

Returns: the image.

Definition at line 158 of file disparity_map_converter.hpp.

◆ getImageCenterX()

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::getImageCenterX

inline

Get x-coordinate of the image center.

Returns: x-coordinate of the image center.

Definition at line 65 of file disparity_map_converter.hpp.

◆ getImageCenterY()

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::getImageCenterY

inline

Get y-coordinate of the image center.

Returns: y-coordinate of the image center.

Definition at line 79 of file disparity_map_converter.hpp.

◆ loadDisparityMap() [1/2]

template<typename PointT >

bool pcl::DisparityMapConverter< PointT >::loadDisparityMap ( const std::string & file_name )

Load the disparity map.

Parameters

[in] file_name the name of the disparity map file.

Returns: "true" if the disparity map was successfully loaded; "false" otherwise

Definition at line 167 of file disparity_map_converter.hpp.

◆ loadDisparityMap() [2/2]

template<typename PointT >

bool pcl::DisparityMapConverter< PointT >::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.

Parameters

[in]	file_name	the name of the disparity map file.
[in]	width	width of the disparity map.
[in]	height	height of the disparity map.

Returns: "true" if the disparity map was successfully loaded; "false" otherwise

Definition at line 196 of file disparity_map_converter.hpp.

◆ setBaseline()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setBaseline ( const float baseline )

inline

Set baseline.

Parameters

[in] baseline baseline.

Definition at line 100 of file disparity_map_converter.hpp.

◆ setDisparityMap() [1/2]

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setDisparityMap ( const std::vector< float > & disparity_map )

Set the disparity map.

Parameters

[in] disparity_map the disparity map.

Definition at line 210 of file disparity_map_converter.hpp.

◆ setDisparityMap() [2/2]

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::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.

Parameters

[in]	disparity_map	the disparity map.
[in]	width	width of the disparity map.
[in]	height	height of the disparity map.

Returns: "true" if the disparity map was successfully loaded; "false" otherwise

Definition at line 218 of file disparity_map_converter.hpp.

◆ setDisparityThresholdMax()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setDisparityThresholdMax ( const float disparity_threshold_max )

inline

Set max disparity threshold.

Parameters

[in] disparity_threshold_max max disparity threshold.

Definition at line 129 of file disparity_map_converter.hpp.

◆ setDisparityThresholdMin()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setDisparityThresholdMin ( const float disparity_threshold_min )

inline

Set min disparity threshold.

Parameters

[in] disparity_threshold_min min disparity threshold.

Definition at line 114 of file disparity_map_converter.hpp.

◆ setFocalLength()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setFocalLength ( const float focal_length )

inline

Set focal length.

Parameters

[in] focal_length the focal length.

Definition at line 86 of file disparity_map_converter.hpp.

◆ setImage()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setImage ( const pcl::PointCloud< pcl::RGB >::ConstPtr & image )

Set an image, that will be used for coloring of the output cloud.

Parameters

[in] image the image.

Definition at line 144 of file disparity_map_converter.hpp.

◆ setImageCenterX()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setImageCenterX ( const float center_x )

inline

Set x-coordinate of the image center.

Parameters

[in] center_x x-coordinate of the image center.

Definition at line 58 of file disparity_map_converter.hpp.

◆ setImageCenterY()

template<typename PointT >

void pcl::DisparityMapConverter< PointT >::setImageCenterY ( const float center_y )

inline

Set y-coordinate of the image center.

Parameters

[in] center_y y-coordinate of the image center.

Definition at line 72 of file disparity_map_converter.hpp.

◆ translateCoordinates()

template<typename PointT >

pcl::PointXYZ pcl::DisparityMapConverter< PointT >::translateCoordinates	(	std::size_t	row,
		std::size_t	column,
		float	disparity
	)		const

protected

Translate point from image coordinates and disparity to 3D-coordinates.

Parameters

[in]	row
[in]	column
[in]	disparity

Returns: the 3D point, that corresponds to the input parameters and the camera calibration.

Definition at line 295 of file disparity_map_converter.hpp.

Member Data Documentation

◆ baseline_

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::baseline_ {0.0f}

protected

Baseline.

Definition at line 237 of file disparity_map_converter.h.

◆ center_x_

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::center_x_ {0.0f}

protected

X-coordinate of the image center.

Definition at line 231 of file disparity_map_converter.h.

◆ center_y_

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::center_y_ {0.0f}

protected

Y-coordinate of the image center.

Definition at line 233 of file disparity_map_converter.h.

◆ disparity_map_

template<typename PointT >

std::vector<float> pcl::DisparityMapConverter< PointT >::disparity_map_

protected

Vector for the disparity map.

Definition at line 245 of file disparity_map_converter.h.

◆ disparity_map_height_

template<typename PointT >

std::size_t pcl::DisparityMapConverter< PointT >::disparity_map_height_ {480}

protected

Y-size of the disparity map.

Definition at line 249 of file disparity_map_converter.h.

◆ disparity_map_width_

template<typename PointT >

std::size_t pcl::DisparityMapConverter< PointT >::disparity_map_width_ {640}

protected

X-size of the disparity map.

Definition at line 247 of file disparity_map_converter.h.

◆ disparity_threshold_max_

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::disparity_threshold_max_

protected

Definition at line 253 of file disparity_map_converter.h.

◆ disparity_threshold_min_

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::disparity_threshold_min_ {0.0f}

protected

Thresholds of the disparity.

Definition at line 252 of file disparity_map_converter.h.

◆ focal_length_

template<typename PointT >

float pcl::DisparityMapConverter< PointT >::focal_length_ {0.0f}

protected

Focal length.

Definition at line 235 of file disparity_map_converter.h.

◆ image_

template<typename PointT >

pcl::PointCloud<pcl::RGB>::ConstPtr pcl::DisparityMapConverter< PointT >::image_

protected

Color image of the scene.

Definition at line 242 of file disparity_map_converter.h.

◆ is_color_

template<typename PointT >

bool pcl::DisparityMapConverter< PointT >::is_color_ {false}

protected

Is color image is set.

Definition at line 240 of file disparity_map_converter.h.

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

pcl/stereo/disparity_map_converter.h
pcl/stereo/impl/disparity_map_converter.hpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

template<typename PointT> class pcl::DisparityMapConverter< PointT >

Member Typedef Documentation

◆ PointCloud

Constructor & Destructor Documentation

◆ DisparityMapConverter()

◆ ~DisparityMapConverter()

Member Function Documentation

◆ compute()

◆ getBaseline()

◆ getDisparityMap()

◆ getDisparityThresholdMax()

◆ getDisparityThresholdMin()

◆ getFocalLength()

◆ getImage()

◆ getImageCenterX()

◆ getImageCenterY()

◆ loadDisparityMap() [1/2]

◆ loadDisparityMap() [2/2]

◆ setBaseline()

◆ setDisparityMap() [1/2]

◆ setDisparityMap() [2/2]

◆ setDisparityThresholdMax()

◆ setDisparityThresholdMin()

◆ setFocalLength()

◆ setImage()

◆ setImageCenterX()

◆ setImageCenterY()

◆ translateCoordinates()

Member Data Documentation

◆ baseline_

◆ center_x_

◆ center_y_

◆ disparity_map_

◆ disparity_map_height_

◆ disparity_map_width_

◆ disparity_threshold_max_

◆ disparity_threshold_min_

◆ focal_length_

◆ image_

◆ is_color_

template<typename PointT>
class pcl::DisparityMapConverter< PointT >