RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where a 3D scene was captured from a specific view point. More...

#include <pcl/range_image/range_image.h>

Inheritance diagram for pcl::RangeImage:

Collaboration diagram for pcl::RangeImage:

Public Types
enum	CoordinateFrame { CAMERA_FRAME = 0 , LASER_FRAME = 1 }

using	BaseClass = pcl::PointCloud< PointWithRange >

using	VectorOfEigenVector3f = std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > >

using	Ptr = shared_ptr< RangeImage >

using	ConstPtr = shared_ptr< const RangeImage >

Public Types inherited from pcl::PointCloud< PointWithRange >
using	PointType = PointWithRange

using	VectorType = std::vector< PointWithRange, Eigen::aligned_allocator< PointWithRange > >

using	CloudVectorType = std::vector< PointCloud< PointWithRange >, Eigen::aligned_allocator< PointCloud< PointWithRange > > >

using	Ptr = shared_ptr< PointCloud< PointWithRange > >

using	ConstPtr = shared_ptr< const PointCloud< PointWithRange > >

using	value_type = PointWithRange

using	reference = PointWithRange &

using	const_reference = const PointWithRange &

using	difference_type = typename VectorType::difference_type

using	size_type = typename VectorType::size_type

using	iterator = typename VectorType::iterator

using	const_iterator = typename VectorType::const_iterator

using	reverse_iterator = typename VectorType::reverse_iterator

using	const_reverse_iterator = typename VectorType::const_reverse_iterator

Public Member Functions
PCL_EXPORTS	RangeImage ()
	Constructor. More...

virtual PCL_EXPORTS	~RangeImage ()=default
	Destructor. More...

Ptr	makeShared ()
	Get a boost shared pointer of a copy of this. More...

PCL_EXPORTS void	reset ()
	Reset all values to an empty range image. More...

template<typename PointCloudType >
void	createFromPointCloud (const PointCloudType &point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud. More...

template<typename PointCloudType >
void	createFromPointCloud (const PointCloudType &point_cloud, float angular_resolution_x=pcl::deg2rad(0.5f), float angular_resolution_y=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud. More...

template<typename PointCloudType >
void	createFromPointCloudWithKnownSize (const PointCloudType &point_cloud, float angular_resolution, const Eigen::Vector3f &point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation. More...

template<typename PointCloudType >
void	createFromPointCloudWithKnownSize (const PointCloudType &point_cloud, float angular_resolution_x, float angular_resolution_y, const Eigen::Vector3f &point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation. More...

template<typename PointCloudTypeWithViewpoints >
void	createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)). More...

template<typename PointCloudTypeWithViewpoints >
void	createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution_x, float angular_resolution_y, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
	Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)). More...

void	createEmpty (float angular_resolution, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))
	Create an empty depth image (filled with unobserved points) More...

void	createEmpty (float angular_resolution_x, float angular_resolution_y, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))
	Create an empty depth image (filled with unobserved points) More...

template<typename PointCloudType >
void	doZBuffer (const PointCloudType &point_cloud, float noise_level, float min_range, int &top, int &right, int &bottom, int &left)
	Integrate the given point cloud into the current range image using a z-buffer. More...

template<typename PointCloudType >
void	integrateFarRanges (const PointCloudType &far_ranges)
	Integrates the given far range measurements into the range image. More...

PCL_EXPORTS void	cropImage (int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)
	Cut the range image to the minimal size so that it still contains all actual range readings. More...

PCL_EXPORTS float *	getRangesArray () const
	Get all the range values in one float array of size width*height. More...

const Eigen::Affine3f &	getTransformationToRangeImageSystem () const
	Getter for the transformation from the world system into the range image system (the sensor coordinate frame) More...

void	setTransformationToRangeImageSystem (const Eigen::Affine3f &to_range_image_system)
	Setter for the transformation from the range image system (the sensor coordinate frame) into the world system. More...

const Eigen::Affine3f &	getTransformationToWorldSystem () const
	Getter for the transformation from the range image system (the sensor coordinate frame) into the world system. More...

float	getAngularResolution () const
	Getter for the angular resolution of the range image in x direction in radians per pixel. More...

float	getAngularResolutionX () const
	Getter for the angular resolution of the range image in x direction in radians per pixel. More...

float	getAngularResolutionY () const
	Getter for the angular resolution of the range image in y direction in radians per pixel. More...

void	getAngularResolution (float &angular_resolution_x, float &angular_resolution_y) const
	Getter for the angular resolution of the range image in x and y direction (in radians). More...

void	setAngularResolution (float angular_resolution)
	Set the angular resolution of the range image. More...

void	setAngularResolution (float angular_resolution_x, float angular_resolution_y)
	Set the angular resolution of the range image. More...

const PointWithRange &	getPoint (int image_x, int image_y) const
	Return the 3D point with range at the given image position. More...

PointWithRange &	getPoint (int image_x, int image_y)
	Non-const-version of getPoint. More...

const PointWithRange &	getPoint (float image_x, float image_y) const
	Return the 3d point with range at the given image position. More...

PointWithRange &	getPoint (float image_x, float image_y)
	Non-const-version of the above. More...

const PointWithRange &	getPointNoCheck (int image_x, int image_y) const
	Return the 3D point with range at the given image position. More...

PointWithRange &	getPointNoCheck (int image_x, int image_y)
	Non-const-version of getPointNoCheck. More...

void	getPoint (int image_x, int image_y, Eigen::Vector3f &point) const
	Same as above. More...

void	getPoint (int index, Eigen::Vector3f &point) const
	Same as above. More...

const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int x, int y) const
	Same as above. More...

const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int index) const
	Same as above. More...

const PointWithRange &	getPoint (int index) const
	Return the 3d point with range at the given index (whereas index=y*width+x) More...

void	calculate3DPoint (float image_x, float image_y, float range, PointWithRange &point) const
	Calculate the 3D point according to the given image point and range. More...

void	calculate3DPoint (float image_x, float image_y, PointWithRange &point) const
	Calculate the 3D point according to the given image point and the range value at the closest pixel. More...

virtual void	calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f &point) const
	Calculate the 3D point according to the given image point and range. More...

void	calculate3DPoint (float image_x, float image_y, Eigen::Vector3f &point) const
	Calculate the 3D point according to the given image point and the range value at the closest pixel. More...

PCL_EXPORTS void	recalculate3DPointPositions ()
	Recalculate all 3D point positions according to their pixel position and range. More...

virtual void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
	Get imagePoint from 3D point in world coordinates. More...

void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y, float &range) const
	Same as above. More...

void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y) const
	Same as above. More...

void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, float &image_x, float &image_y, float &range) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, float &image_x, float &image_y) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, int &image_x, int &image_y) const
	Same as above. More...

float	checkPoint (const Eigen::Vector3f &point, PointWithRange &point_in_image) const
	point_in_image will be the point in the image at the position the given point would be. More...

float	getRangeDifference (const Eigen::Vector3f &point) const
	Returns the difference in range between the given point and the range of the point in the image at the position the given point would be. More...

void	getImagePointFromAngles (float angle_x, float angle_y, float &image_x, float &image_y) const
	Get the image point corresponding to the given angles. More...

void	getAnglesFromImagePoint (float image_x, float image_y, float &angle_x, float &angle_y) const
	Get the angles corresponding to the given image point. More...

void	real2DToInt2D (float x, float y, int &xInt, int &yInt) const
	Transforms an image point in float values to an image point in int values. More...

bool	isInImage (int x, int y) const
	Check if a point is inside of the image. More...

bool	isValid (int x, int y) const
	Check if a point is inside of the image and has a finite range. More...

bool	isValid (int index) const
	Check if a point has a finite range. More...

bool	isObserved (int x, int y) const
	Check if a point is inside of the image and has either a finite range or a max reading (range=INFINITY) More...

bool	isMaxRange (int x, int y) const
	Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first! More...

bool	getNormal (int x, int y, int radius, Eigen::Vector3f &normal, int step_size=1) const
	Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius. More...

bool	getNormalForClosestNeighbors (int x, int y, int radius, const PointWithRange &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, int step_size=1) const
	Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered. More...

bool	getNormalForClosestNeighbors (int x, int y, int radius, const Eigen::Vector3f &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, Eigen::Vector3f *point_on_plane=nullptr, int step_size=1) const
	Same as above. More...

bool	getNormalForClosestNeighbors (int x, int y, Eigen::Vector3f &normal, int radius=2) const
	Same as above, using default values. More...

bool	getSurfaceInformation (int x, int y, int radius, const Eigen::Vector3f &point, int no_of_closest_neighbors, int step_size, float &max_closest_neighbor_distance_squared, Eigen::Vector3f &normal, Eigen::Vector3f &mean, Eigen::Vector3f &eigen_values, Eigen::Vector3f normal_all_neighbors=nullptr, Eigen::Vector3f mean_all_neighbors=nullptr, Eigen::Vector3f *eigen_values_all_neighbors=nullptr) const
	Same as above but extracts some more data and can also return the extracted information for all neighbors in radius if normal_all_neighbors is not NULL. More...

float	getSquaredDistanceOfNthNeighbor (int x, int y, int radius, int n, int step_size) const

float	getImpactAngle (const PointWithRange &point1, const PointWithRange &point2) const
	Calculate the impact angle based on the sensor position and the two given points - will return -INFINITY if one of the points is unobserved. More...

float	getImpactAngle (int x1, int y1, int x2, int y2) const
	Same as above. More...

float	getImpactAngleBasedOnLocalNormal (int x, int y, int radius) const
	Extract a local normal (with a heuristic not to include background points) and calculate the impact angle based on this. More...

PCL_EXPORTS float *	getImpactAngleImageBasedOnLocalNormals (int radius) const
	Uses the above function for every point in the image. More...

float	getNormalBasedAcutenessValue (int x, int y, int radius) const
	Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated. More...

float	getAcutenessValue (const PointWithRange &point1, const PointWithRange &point2) const
	Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) will return -INFINITY if one of the points is unobserved. More...

float	getAcutenessValue (int x1, int y1, int x2, int y2) const
	Same as above. More...

PCL_EXPORTS void	getAcutenessValueImages (int pixel_distance, float &acuteness_value_image_x, float &acuteness_value_image_y) const
	Calculate getAcutenessValue for every point. More...

PCL_EXPORTS float	getSurfaceChange (int x, int y, int radius) const
	Calculates, how much the surface changes at a point. More...

PCL_EXPORTS float *	getSurfaceChangeImage (int radius) const
	Uses the above function for every point in the image. More...

void	getSurfaceAngleChange (int x, int y, int radius, float &angle_change_x, float &angle_change_y) const
	Calculates, how much the surface changes at a point. More...

PCL_EXPORTS void	getSurfaceAngleChangeImages (int radius, float &angle_change_image_x, float &angle_change_image_y) const
	Uses the above function for every point in the image. More...

float	getCurvature (int x, int y, int radius, int step_size) const
	Calculates the curvature in a point using pca. More...

const Eigen::Vector3f	getSensorPos () const
	Get the sensor position. More...

PCL_EXPORTS void	setUnseenToMaxRange ()
	Sets all -INFINITY values to INFINITY. More...

int	getImageOffsetX () const
	Getter for image_offset_x_. More...

int	getImageOffsetY () const
	Getter for image_offset_y_. More...

void	setImageOffsets (int offset_x, int offset_y)
	Setter for image offsets. More...

virtual void	getSubImage (int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, int sub_image_height, int combine_pixels, RangeImage &sub_image) const
	Get a sub part of the complete image as a new range image. More...

virtual void	getHalfImage (RangeImage &half_image) const
	Get a range image with half the resolution. More...

PCL_EXPORTS void	getMinMaxRanges (float &min_range, float &max_range) const
	Find the minimum and maximum range in the image. More...

PCL_EXPORTS void	change3dPointsToLocalCoordinateFrame ()
	This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame. More...

PCL_EXPORTS float *	getInterpolatedSurfaceProjection (const Eigen::Affine3f &pose, int pixel_size, float world_size) const
	Calculate a range patch as the z values of the coordinate frame given by pose. More...

PCL_EXPORTS float *	getInterpolatedSurfaceProjection (const Eigen::Vector3f &point, int pixel_size, float world_size) const
	Same as above, but using the local coordinate frame defined by point and the viewing direction. More...

Eigen::Affine3f	getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point) const
	Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction. More...

void	getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, using a reference for the retrurn value. More...

void	getRotationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, but only returning the rotation. More...

PCL_EXPORTS bool	getNormalBasedUprightTransformation (const Eigen::Vector3f &point, float max_dist, Eigen::Affine3f &transformation) const
	Get a local coordinate frame at the given point based on the normal. More...

PCL_EXPORTS void	getIntegralImage (float &integral_image, int &valid_points_num_image) const
	Get the integral image of the range values (used for fast blur operations). More...

PCL_EXPORTS void	getBlurredImageUsingIntegralImage (int blur_radius, float integral_image, int valid_points_num_image, RangeImage &range_image) const
	Get a blurred version of the range image using box filters on the provided integral image. More...

virtual PCL_EXPORTS void	getBlurredImage (int blur_radius, RangeImage &range_image) const
	Get a blurred version of the range image using box filters. More...

float	getEuclideanDistanceSquared (int x1, int y1, int x2, int y2) const
	Get the squared euclidean distance between the two image points. More...

float	getAverageEuclideanDistance (int x, int y, int offset_x, int offset_y, int max_steps) const
	Doing the above for some steps in the given direction and averaging. More...

PCL_EXPORTS void	getRangeImageWithSmoothedSurface (int radius, RangeImage &smoothed_range_image) const
	Project all points on the local plane approximation, thereby smoothing the surface of the scan. More...

void	get1dPointAverage (int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &average_point) const
	Calculates the average 3D position of the no_of_points points described by the start point x,y in the direction delta. More...

PCL_EXPORTS float	getOverlap (const RangeImage &other_range_image, const Eigen::Affine3f &relative_transformation, int search_radius, float max_distance, int pixel_step=1) const
	Calculates the overlap of two range images given the relative transformation (from the given image to *this) More...

bool	getViewingDirection (int x, int y, Eigen::Vector3f &viewing_direction) const
	Get the viewing direction for the given point. More...

void	getViewingDirection (const Eigen::Vector3f &point, Eigen::Vector3f &viewing_direction) const
	Get the viewing direction for the given point. More...

virtual PCL_EXPORTS RangeImage *	getNew () const
	Return a newly created Range image. More...

virtual PCL_EXPORTS void	copyTo (RangeImage &other) const
	Copy other to *this. More...

Public Member Functions inherited from pcl::PointCloud< PointWithRange >
	PointCloud ()=default
	Default constructor. More...

	PointCloud (const PointCloud< PointWithRange > &pc, const Indices &indices)
	Copy constructor from point cloud subset. More...

	PointCloud (std::uint32_t width_, std::uint32_t height_, const PointWithRange &value_=PointWithRange())
	Allocate constructor from point cloud subset. More...

PointCloud &	operator+= (const PointCloud &rhs)
	Add a point cloud to the current cloud. More...

PointCloud	operator+ (const PointCloud &rhs)
	Add a point cloud to another cloud. More...

const PointWithRange &	at (int column, int row) const
	Obtain the point given by the (column, row) coordinates. More...

PointWithRange &	at (int column, int row)
	Obtain the point given by the (column, row) coordinates. More...

const PointWithRange &	at (std::size_t n) const

PointWithRange &	at (std::size_t n)

const PointWithRange &	operator() (std::size_t column, std::size_t row) const
	Obtain the point given by the (column, row) coordinates. More...

PointWithRange &	operator() (std::size_t column, std::size_t row)
	Obtain the point given by the (column, row) coordinates. More...

bool	isOrganized () const
	Return whether a dataset is organized (e.g., arranged in a structured grid). More...

Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap (int dim, int stride, int offset)
	Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. More...

const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap (int dim, int stride, int offset) const
	Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. More...

Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap ()

const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap () const

iterator	begin () noexcept

const_iterator	begin () const noexcept

iterator	end () noexcept

const_iterator	end () const noexcept

const_iterator	cbegin () const noexcept

const_iterator	cend () const noexcept

reverse_iterator	rbegin () noexcept

const_reverse_iterator	rbegin () const noexcept

reverse_iterator	rend () noexcept

const_reverse_iterator	rend () const noexcept

const_reverse_iterator	crbegin () const noexcept

const_reverse_iterator	crend () const noexcept

std::size_t	size () const

index_t	max_size () const noexcept

void	reserve (std::size_t n)

bool	empty () const

PointWithRange *	data () noexcept

const PointWithRange *	data () const noexcept

void	resize (std::size_t count)
	Resizes the container to contain `count` elements. More...

void	resize (uindex_t new_width, uindex_t new_height)
	Resizes the container to contain `new_width * new_height` elements. More...

void	resize (index_t count, const PointWithRange &value)
	Resizes the container to contain count elements. More...

void	resize (index_t new_width, index_t new_height, const PointWithRange &value)
	Resizes the container to contain count elements. More...

const PointWithRange &	operator[] (std::size_t n) const

PointWithRange &	operator[] (std::size_t n)

const PointWithRange &	front () const

PointWithRange &	front ()

const PointWithRange &	back () const

PointWithRange &	back ()

void	assign (index_t count, const PointWithRange &value)
	Replaces the points with `count` copies of `value` More...

void	assign (index_t new_width, index_t new_height, const PointWithRange &value)
	Replaces the points with `new_width * new_height` copies of `value` More...

void	assign (InputIterator first, InputIterator last)
	Replaces the points with copies of those in the range `[first, last)` More...

void	assign (InputIterator first, InputIterator last, index_t new_width)
	Replaces the points with copies of those in the range `[first, last)` More...

void	assign (std::initializer_list< PointWithRange > ilist)
	Replaces the points with the elements from the initializer list `ilist` More...

void	assign (std::initializer_list< PointWithRange > ilist, index_t new_width)
	Replaces the points with the elements from the initializer list `ilist` More...

void	push_back (const PointWithRange &pt)
	Insert a new point in the cloud, at the end of the container. More...

void	transient_push_back (const PointWithRange &pt)
	Insert a new point in the cloud, at the end of the container. More...

reference	emplace_back (Args &&...args)
	Emplace a new point in the cloud, at the end of the container. More...

reference	transient_emplace_back (Args &&...args)
	Emplace a new point in the cloud, at the end of the container. More...

iterator	insert (iterator position, const PointWithRange &pt)
	Insert a new point in the cloud, given an iterator. More...

void	insert (iterator position, std::size_t n, const PointWithRange &pt)
	Insert a new point in the cloud N times, given an iterator. More...

void	insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position. More...

iterator	transient_insert (iterator position, const PointWithRange &pt)
	Insert a new point in the cloud, given an iterator. More...

void	transient_insert (iterator position, std::size_t n, const PointWithRange &pt)
	Insert a new point in the cloud N times, given an iterator. More...

void	transient_insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position. More...

iterator	emplace (iterator position, Args &&...args)
	Emplace a new point in the cloud, given an iterator. More...

iterator	transient_emplace (iterator position, Args &&...args)
	Emplace a new point in the cloud, given an iterator. More...

iterator	erase (iterator position)
	Erase a point in the cloud. More...

iterator	erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair. More...

iterator	transient_erase (iterator position)
	Erase a point in the cloud. More...

iterator	transient_erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair. More...

void	swap (PointCloud< PointWithRange > &rhs)
	Swap a point cloud with another cloud. More...

void	clear ()
	Removes all points in a cloud and sets the width and height to 0. More...

Ptr	makeShared () const
	Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. More...

Static Public Member Functions
static float	getMaxAngleSize (const Eigen::Affine3f &viewer_pose, const Eigen::Vector3f &center, float radius)
	Get the size of a certain area when seen from the given pose. More...

static Eigen::Vector3f	getEigenVector3f (const PointWithRange &point)
	Get Eigen::Vector3f from PointWithRange. More...

static PCL_EXPORTS void	getCoordinateFrameTransformation (RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
	Get the transformation that transforms the given coordinate frame into CAMERA_FRAME. More...

template<typename PointCloudTypeWithViewpoints >
static Eigen::Vector3f	getAverageViewPoint (const PointCloudTypeWithViewpoints &point_cloud)
	Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z. More...

static PCL_EXPORTS void	extractFarRanges (const pcl::PCLPointCloud2 &point_cloud_data, PointCloud< PointWithViewpoint > &far_ranges)
	Check if the provided data includes far ranges and add them to far_ranges. More...

Static Public Member Functions inherited from pcl::PointCloud< PointWithRange >
static bool	concatenate (pcl::PointCloud< PointWithRange > &cloud1, const pcl::PointCloud< PointWithRange > &cloud2)

static bool	concatenate (const pcl::PointCloud< PointWithRange > &cloud1, const pcl::PointCloud< PointWithRange > &cloud2, pcl::PointCloud< PointWithRange > &cloud_out)

Static Public Attributes
static int	max_no_of_threads
	The maximum number of openmp threads that can be used in this class. More...

static bool	debug
	Just for... More...

Static Protected Member Functions
static void	createLookupTables ()
	Create lookup tables for trigonometric functions. More...

static float	asinLookUp (float value)
	Query the asin lookup table. More...

static float	atan2LookUp (float y, float x)
	Query the std::atan2 lookup table. More...

static float	cosLookUp (float value)
	Query the cos lookup table. More...

Protected Attributes
Eigen::Affine3f	to_range_image_system_
	Inverse of to_world_system_. More...

Eigen::Affine3f	to_world_system_
	Inverse of to_range_image_system_. More...

float	angular_resolution_x_ {0.0f}
	Angular resolution of the range image in x direction in radians per pixel. More...

float	angular_resolution_y_ {0.0f}
	Angular resolution of the range image in y direction in radians per pixel. More...

float	angular_resolution_x_reciprocal_ {0.0f}
	1.0/angular_resolution_x_ - provided for better performance of multiplication compared to division More...

float	angular_resolution_y_reciprocal_ {0.0f}
	1.0/angular_resolution_y_ - provided for better performance of multiplication compared to division More...

int	image_offset_x_ {0}

int	image_offset_y_ {0}
	Position of the top left corner of the range image compared to an image of full size (360x180 degrees) More...

PointWithRange	unobserved_point
	This point is used to be able to return a reference to a non-existing point. More...

Static Protected Attributes
static const int	lookup_table_size

static std::vector< float >	asin_lookup_table

static std::vector< float >	atan_lookup_table

static std::vector< float >	cos_lookup_table

Additional Inherited Members
Public Attributes inherited from pcl::PointCloud< PointWithRange >
pcl::PCLHeader	header
	The point cloud header. More...

std::vector< PointWithRange, Eigen::aligned_allocator< PointWithRange > >	points
	The point data. More...

std::uint32_t	width
	The point cloud width (if organized as an image-structure). More...

std::uint32_t	height
	The point cloud height (if organized as an image-structure). More...

bool	is_dense
	True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields). More...

Eigen::Vector4f	sensor_origin_
	Sensor acquisition pose (origin/translation). More...

Eigen::Quaternionf	sensor_orientation_
	Sensor acquisition pose (rotation). More...

Detailed Description

RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where a 3D scene was captured from a specific view point.

Author: Bastian Steder

Definition at line 54 of file range_image.h.

Member Typedef Documentation

◆ BaseClass

using pcl::RangeImage::BaseClass = pcl::PointCloud<PointWithRange>

Definition at line 58 of file range_image.h.

◆ ConstPtr

using pcl::RangeImage::ConstPtr = shared_ptr<const RangeImage>

Definition at line 61 of file range_image.h.

◆ Ptr

using pcl::RangeImage::Ptr = shared_ptr<RangeImage>

Definition at line 60 of file range_image.h.

◆ VectorOfEigenVector3f

using pcl::RangeImage::VectorOfEigenVector3f = std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> >

Definition at line 59 of file range_image.h.

Member Enumeration Documentation

◆ CoordinateFrame

enum pcl::RangeImage::CoordinateFrame

Enumerator
CAMERA_FRAME
LASER_FRAME

Definition at line 63 of file range_image.h.

Constructor & Destructor Documentation

◆ RangeImage()

PCL_EXPORTS pcl::RangeImage::RangeImage ( )

Constructor.

Referenced by getNew().

◆ ~RangeImage()

virtual PCL_EXPORTS pcl::RangeImage::~RangeImage ( )

virtualdefault

Destructor.

Member Function Documentation

◆ asinLookUp()

float pcl::RangeImage::asinLookUp ( float value )

inlinestaticprotected

Query the asin lookup table.

Definition at line 54 of file range_image.hpp.

References asin_lookup_table, lookup_table_size, and pcl_lrintf.

Referenced by getImagePoint(), and pcl::RangeImageSpherical::getImagePoint().

◆ atan2LookUp()

float pcl::RangeImage::atan2LookUp	(	float	y,
		float	x
	)

inlinestaticprotected

Query the std::atan2 lookup table.

Definition at line 64 of file range_image.hpp.

References atan_lookup_table, lookup_table_size, M_PI, and pcl_lrintf.

Referenced by getImagePoint(), and pcl::RangeImageSpherical::getImagePoint().

◆ calculate3DPoint() [1/4]

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		Eigen::Vector3f &	point
	)		const

inline

Calculate the 3D point according to the given image point and the range value at the closest pixel.

Definition at line 584 of file range_image.hpp.

References calculate3DPoint(), getPoint(), and pcl::_PointWithRange::range.

◆ calculate3DPoint() [2/4]

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		float	range,
		Eigen::Vector3f &	point
	)		const

inlinevirtual

Calculate the 3D point according to the given image point and range.

Reimplemented in pcl::RangeImagePlanar, and pcl::RangeImageSpherical.

Definition at line 571 of file range_image.hpp.

References getAnglesFromImagePoint(), and to_world_system_.

◆ calculate3DPoint() [3/4]

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		float	range,
		PointWithRange &	point
	)		const

inline

Calculate the 3D point according to the given image point and range.

Definition at line 592 of file range_image.hpp.

References pcl::_PointWithRange::range.

Referenced by calculate3DPoint(), and pcl::RangeImageBorderExtractor::get3dDirection().

◆ calculate3DPoint() [4/4]

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		PointWithRange &	point
	)		const

inline

Calculate the 3D point according to the given image point and the range value at the closest pixel.

Definition at line 601 of file range_image.hpp.

References calculate3DPoint(), getPoint(), and pcl::_PointWithRange::range.

◆ change3dPointsToLocalCoordinateFrame()

PCL_EXPORTS void pcl::RangeImage::change3dPointsToLocalCoordinateFrame ( )

This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame.

◆ checkPoint()

float pcl::RangeImage::checkPoint	(	const Eigen::Vector3f &	point,
		PointWithRange &	point_in_image
	)		const

inline

point_in_image will be the point in the image at the position the given point would be.

Returns the range of the given point.

Definition at line 401 of file range_image.hpp.

References getImagePoint(), getPoint(), isInImage(), and unobserved_point.

◆ copyTo()

virtual PCL_EXPORTS void pcl::RangeImage::copyTo ( RangeImage & other ) const

virtual

Copy other to *this.

Necessary for use in virtual functions that need to copy derived RangeImage classes (like RangeImagePlanar)

Reimplemented in pcl::RangeImagePlanar.

◆ cosLookUp()

float pcl::RangeImage::cosLookUp ( float value )

inlinestaticprotected

Query the cos lookup table.

Definition at line 90 of file range_image.hpp.

References cos_lookup_table, lookup_table_size, M_PI, and pcl_lrintf.

Referenced by pcl::RangeImagePlanar::calculate3DPoint().

◆ createEmpty() [1/2]

void pcl::RangeImage::createEmpty	(	float	angular_resolution,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	angle_width = `pcl::deg2rad(360.0f)`,
		float	angle_height = `pcl::deg2rad(180.0f)`
	)

Create an empty depth image (filled with unobserved points)

Parameters

[in]	angular_resolution	the angle (in radians) between each sample in the depth image
[in]	sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
[in]	coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
[in]	angle_width	an angle (in radians) defining the horizontal bounds of the sensor (defaults to 2*pi (360deg))
[in]	angle_height	an angle (in radians) defining the vertical bounds of the sensor (defaults to pi (180deg))

◆ createEmpty() [2/2]

void pcl::RangeImage::createEmpty	(	float	angular_resolution_x,
		float	angular_resolution_y,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	angle_width = `pcl::deg2rad(360.0f)`,
		float	angle_height = `pcl::deg2rad(180.0f)`
	)

Create an empty depth image (filled with unobserved points)

Parameters

	angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
	angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
[in]	sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
[in]	coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
[in]	angle_width	an angle (in radians) defining the horizontal bounds of the sensor (defaults to 2*pi (360deg))
[in]	angle_height	an angle (in radians) defining the vertical bounds of the sensor (defaults to pi (180deg))

◆ createFromPointCloud() [1/2]

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloud	(	const PointCloudType &	point_cloud,
		float	angular_resolution = `pcl::deg2rad (0.5f)`,
		float	max_angle_width = `pcl::deg2rad (360.0f)`,
		float	max_angle_height = `pcl::deg2rad (180.0f)`,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud.

Parameters

point_cloud	the input point cloud
angular_resolution	the angular difference (in radians) between the individual pixels in the image
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.

Definition at line 98 of file range_image.hpp.

Referenced by createFromPointCloudWithKnownSize(), and createFromPointCloudWithViewpoints().

◆ createFromPointCloud() [2/2]

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloud	(	const PointCloudType &	point_cloud,
		float	angular_resolution_x = `pcl::deg2rad (0.5f)`,
		float	angular_resolution_y = `pcl::deg2rad (0.5f)`,
		float	max_angle_width = `pcl::deg2rad (360.0f)`,
		float	max_angle_height = `pcl::deg2rad (180.0f)`,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud.

Parameters

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.

Definition at line 109 of file range_image.hpp.

References angular_resolution_x_reciprocal_, angular_resolution_y_reciprocal_, cropImage(), pcl::deg2rad(), doZBuffer(), getCoordinateFrameTransformation(), pcl::PointCloud< PointWithRange >::height, image_offset_x_, image_offset_y_, pcl::PointCloud< PointWithRange >::is_dense, pcl_lrint, pcl::PointCloud< PointWithRange >::points, recalculate3DPointPositions(), setAngularResolution(), pcl::PointCloud< PointWithRange >::size(), to_range_image_system_, to_world_system_, unobserved_point, and pcl::PointCloud< PointWithRange >::width.

◆ createFromPointCloudWithKnownSize() [1/2]

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloudWithKnownSize	(	const PointCloudType &	point_cloud,
		float	angular_resolution,
		const Eigen::Vector3f &	point_cloud_center,
		float	point_cloud_radius,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.

Parameters

point_cloud	the input point cloud
angular_resolution	the angle (in radians) between each sample in the depth image
point_cloud_center	the center of bounding sphere
point_cloud_radius	the radius of the bounding sphere
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.

Definition at line 148 of file range_image.hpp.

◆ createFromPointCloudWithKnownSize() [2/2]

template<typename PointCloudType >

void pcl::RangeImage::createFromPointCloudWithKnownSize	(	const PointCloudType &	point_cloud,
		float	angular_resolution_x,
		float	angular_resolution_y,
		const Eigen::Vector3f &	point_cloud_center,
		float	point_cloud_radius,
		const Eigen::Affine3f &	sensor_pose = `Eigen::Affine3f::Identity ()`,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.

Parameters

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
point_cloud_center	the center of bounding sphere
point_cloud_radius	the radius of the bounding sphere
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.

Definition at line 159 of file range_image.hpp.

References angular_resolution_x_reciprocal_, angular_resolution_y_reciprocal_, createFromPointCloud(), cropImage(), pcl::deg2rad(), doZBuffer(), getCoordinateFrameTransformation(), getImagePoint(), getMaxAngleSize(), pcl::PointCloud< PointWithRange >::height, image_offset_x_, image_offset_y_, pcl::PointCloud< PointWithRange >::is_dense, pcl_lrint, pcl::PointCloud< PointWithRange >::points, recalculate3DPointPositions(), setAngularResolution(), to_range_image_system_, to_world_system_, unobserved_point, and pcl::PointCloud< PointWithRange >::width.

◆ createFromPointCloudWithViewpoints() [1/2]

template<typename PointCloudTypeWithViewpoints >

void pcl::RangeImage::createFromPointCloudWithViewpoints	(	const PointCloudTypeWithViewpoints &	point_cloud,
		float	angular_resolution,
		float	max_angle_width,
		float	max_angle_height,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).

Parameters

point_cloud	the input point cloud
angular_resolution	the angle (in radians) between each sample in the depth image
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.

Note: If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

Definition at line 211 of file range_image.hpp.

◆ createFromPointCloudWithViewpoints() [2/2]

template<typename PointCloudTypeWithViewpoints >

void pcl::RangeImage::createFromPointCloudWithViewpoints	(	const PointCloudTypeWithViewpoints &	point_cloud,
		float	angular_resolution_x,
		float	angular_resolution_y,
		float	max_angle_width,
		float	max_angle_height,
		RangeImage::CoordinateFrame	coordinate_frame = `CAMERA_FRAME`,
		float	noise_level = `0.0f`,
		float	min_range = `0.0f`,
		int	border_size = `0`
	)

Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).

Parameters

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0). Set to `std::numeric_limits<int>::min()` to turn cropping off.

Note: If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

Definition at line 224 of file range_image.hpp.

References createFromPointCloud(), and getAverageViewPoint().

◆ createLookupTables()

static void pcl::RangeImage::createLookupTables ( )

staticprotected

Create lookup tables for trigonometric functions.

◆ cropImage()

PCL_EXPORTS void pcl::RangeImage::cropImage	(	int	border_size = `0`,
		int	top = `-1`,
		int	right = `-1`,
		int	bottom = `-1`,
		int	left = `-1`
	)

Cut the range image to the minimal size so that it still contains all actual range readings.

Parameters

border_size	allows increase from the minimal size by the specified number of pixels (defaults to 0)
top	if positive, this value overrides the position of the top edge (defaults to -1)
right	if positive, this value overrides the position of the right edge (defaults to -1)
bottom	if positive, this value overrides the position of the bottom edge (defaults to -1)
left	if positive, this value overrides the position of the left edge (defaults to -1)

Referenced by createFromPointCloud(), and createFromPointCloudWithKnownSize().

◆ doZBuffer()

template<typename PointCloudType >

void pcl::RangeImage::doZBuffer	(	const PointCloudType &	point_cloud,
		float	noise_level,
		float	min_range,
		int &	top,
		int &	right,
		int &	bottom,
		int &	left
	)

Integrate the given point cloud into the current range image using a z-buffer.

Parameters

point_cloud	the input point cloud
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range
top	returns the minimum y pixel position in the image where a point was added
right	returns the maximum x pixel position in the image where a point was added
bottom	returns the maximum y pixel position in the image where a point was added
left	returns the minimum x pixel position in the image where a point was added

Definition at line 238 of file range_image.hpp.

References getImagePoint(), pcl::PointCloud< PointWithRange >::height, pcl::isFinite(), isInImage(), pcl_lrint, pcl::PointCloud< PointWithRange >::points, real2DToInt2D(), pcl::PointCloud< PointWithRange >::size(), and pcl::PointCloud< PointWithRange >::width.

Referenced by createFromPointCloud(), pcl::RangeImagePlanar::createFromPointCloudWithFixedSize(), and createFromPointCloudWithKnownSize().

◆ extractFarRanges()

static PCL_EXPORTS void pcl::RangeImage::extractFarRanges	(	const pcl::PCLPointCloud2 &	point_cloud_data,
		PointCloud< PointWithViewpoint > &	far_ranges
	)

static

Check if the provided data includes far ranges and add them to far_ranges.

Parameters

point_cloud_data	a PCLPointCloud2 message containing the input cloud
far_ranges	the resulting cloud containing those points with far ranges

◆ get1dPointAverage()

void pcl::RangeImage::get1dPointAverage	(	int	x,
		int	y,
		int	delta_x,
		int	delta_y,
		int	no_of_points,
		PointWithRange &	average_point
	)		const

inline

Calculates the average 3D position of the no_of_points points described by the start point x,y in the direction delta.

Returns a max range point (range=INFINITY) if the first point is max range and an unobserved point (range=-INFINITY) if non of the points is observed.

Definition at line 809 of file range_image.hpp.

References getPoint(), getPointNoCheck(), isValid(), pcl::_PointWithRange::range, and unobserved_point.

Referenced by pcl::RangeImageBorderExtractor::getNeighborDistanceChangeScore().

◆ getAcutenessValue() [1/2]

float pcl::RangeImage::getAcutenessValue	(	const PointWithRange &	point1,
		const PointWithRange &	point2
	)		const

inline

Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) will return -INFINITY if one of the points is unobserved.

Definition at line 659 of file range_image.hpp.

References getImpactAngle(), and M_PI.

Referenced by getAcutenessValue().

◆ getAcutenessValue() [2/2]

float pcl::RangeImage::getAcutenessValue	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const

inline

Same as above.

Definition at line 674 of file range_image.hpp.

References getAcutenessValue(), getPoint(), and isInImage().

◆ getAcutenessValueImages()

PCL_EXPORTS void pcl::RangeImage::getAcutenessValueImages	(	int	pixel_distance,
		float *&	acuteness_value_image_x,
		float *&	acuteness_value_image_y
	)		const

Calculate getAcutenessValue for every point.

◆ getAnglesFromImagePoint()

void pcl::RangeImage::getAnglesFromImagePoint	(	float	image_x,
		float	image_y,
		float &	angle_x,
		float &	angle_y
	)		const

inline

Get the angles corresponding to the given image point.

Definition at line 609 of file range_image.hpp.

References angular_resolution_x_, angular_resolution_y_, image_offset_x_, image_offset_y_, and M_PI.

Referenced by calculate3DPoint().

◆ getAngularResolution() [1/2]

float pcl::RangeImage::getAngularResolution ( ) const

inline

Getter for the angular resolution of the range image in x direction in radians per pixel.

Provided for downwards compatibility

Definition at line 352 of file range_image.h.

References angular_resolution_x_.

◆ getAngularResolution() [2/2]

void pcl::RangeImage::getAngularResolution	(	float &	angular_resolution_x,
		float &	angular_resolution_y
	)		const

inline

Getter for the angular resolution of the range image in x and y direction (in radians).

Definition at line 1221 of file range_image.hpp.

References angular_resolution_x_, and angular_resolution_y_.

◆ getAngularResolutionX()

float pcl::RangeImage::getAngularResolutionX ( ) const

inline

Getter for the angular resolution of the range image in x direction in radians per pixel.

Definition at line 356 of file range_image.h.

References angular_resolution_x_.

Referenced by pcl::operator<<().

◆ getAngularResolutionY()

float pcl::RangeImage::getAngularResolutionY ( ) const

inline

Getter for the angular resolution of the range image in y direction in radians per pixel.

Definition at line 360 of file range_image.h.

References angular_resolution_y_.

Referenced by pcl::operator<<().

◆ getAverageEuclideanDistance()

float pcl::RangeImage::getAverageEuclideanDistance	(	int	x,
		int	y,
		int	offset_x,
		int	offset_y,
		int	max_steps
	)		const

inline

Doing the above for some steps in the given direction and averaging.

Definition at line 864 of file range_image.hpp.

References getEuclideanDistanceSquared().

◆ getAverageViewPoint()

template<typename PointCloudTypeWithViewpoints >

Eigen::Vector3f pcl::RangeImage::getAverageViewPoint ( const PointCloudTypeWithViewpoints & point_cloud )

static

Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z.

Parameters

point_cloud the input point cloud

Returns: the average viewpoint (as an Eigen::Vector3f)

Definition at line 1133 of file range_image.hpp.

Referenced by createFromPointCloudWithViewpoints().

◆ getBlurredImage()

virtual PCL_EXPORTS void pcl::RangeImage::getBlurredImage	(	int	blur_radius,
		RangeImage &	range_image
	)		const

virtual

Get a blurred version of the range image using box filters.

◆ getBlurredImageUsingIntegralImage()

PCL_EXPORTS void pcl::RangeImage::getBlurredImageUsingIntegralImage	(	int	blur_radius,
		float *	integral_image,
		int *	valid_points_num_image,
		RangeImage &	range_image
	)		const

Get a blurred version of the range image using box filters on the provided integral image.

◆ getCoordinateFrameTransformation()

static PCL_EXPORTS void pcl::RangeImage::getCoordinateFrameTransformation	(	RangeImage::CoordinateFrame	coordinate_frame,
		Eigen::Affine3f &	transformation
	)

static

Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.

Parameters

coordinate_frame	the input coordinate frame
transformation	the resulting transformation that warps coordinate_frame into CAMERA_FRAME

Referenced by createFromPointCloud(), pcl::RangeImagePlanar::createFromPointCloudWithFixedSize(), and createFromPointCloudWithKnownSize().

◆ getCurvature()

float pcl::RangeImage::getCurvature	(	int	x,
		int	y,
		int	radius,
		int	step_size
	)		const

inline

Calculates the curvature in a point using pca.

Definition at line 1108 of file range_image.hpp.

References pcl::VectorAverage< real, dimension >::add(), pcl::VectorAverage< real, dimension >::doPCA(), pcl::VectorAverage< real, dimension >::getNoOfSamples(), getPoint(), isInImage(), and pcl::_PointWithRange::range.

◆ getEigenVector3f() [1/3]

Eigen::Vector3f pcl::RangeImage::getEigenVector3f ( const PointWithRange & point )

inlinestatic

Get Eigen::Vector3f from PointWithRange.

Parameters

point the input point

Returns: an Eigen::Vector3f representation of the input point

Definition at line 802 of file range_image.hpp.

Referenced by getImpactAngleBasedOnLocalNormal().

◆ getEigenVector3f() [2/3]

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f ( int index ) const

inline

Same as above.

Definition at line 564 of file range_image.hpp.

References getPoint().

◆ getEigenVector3f() [3/3]

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f	(	int	x,
		int	y
	)		const

inline

Same as above.

Definition at line 557 of file range_image.hpp.

References getPoint().

◆ getEuclideanDistanceSquared()

float pcl::RangeImage::getEuclideanDistanceSquared	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const

inline

Get the squared euclidean distance between the two image points.

Returns -INFINITY if one of the points was not observed

Definition at line 849 of file range_image.hpp.

References getPoint(), isObserved(), pcl::_PointWithRange::range, and pcl::squaredEuclideanDistance().

Referenced by getAverageEuclideanDistance().

◆ getHalfImage()

virtual void pcl::RangeImage::getHalfImage ( RangeImage & half_image ) const

virtual

Get a range image with half the resolution.

Reimplemented in pcl::RangeImagePlanar.

◆ getImageOffsetX()

int pcl::RangeImage::getImageOffsetX ( ) const

inline

Getter for image_offset_x_.

Definition at line 630 of file range_image.h.

References image_offset_x_.

◆ getImageOffsetY()

int pcl::RangeImage::getImageOffsetY ( ) const

inline

Getter for image_offset_y_.

Definition at line 633 of file range_image.h.

References image_offset_y_.

◆ getImagePoint() [1/7]

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		float &	image_x,
		float &	image_y
	)		const

inline

Same as above.

Definition at line 384 of file range_image.hpp.

References getImagePoint().

◆ getImagePoint() [2/7]

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		float &	image_x,
		float &	image_y,
		float &	range
	)		const

inlinevirtual

Get imagePoint from 3D point in world coordinates.

Reimplemented in pcl::RangeImagePlanar, and pcl::RangeImageSpherical.

Definition at line 357 of file range_image.hpp.

References asinLookUp(), atan2LookUp(), getImagePointFromAngles(), and to_range_image_system_.

Referenced by checkPoint(), createFromPointCloudWithKnownSize(), doZBuffer(), getImagePoint(), getRangeDifference(), and integrateFarRanges().

◆ getImagePoint() [3/7]

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		int &	image_x,
		int &	image_y
	)		const

inline

Same as above.

Definition at line 392 of file range_image.hpp.

References getImagePoint(), and real2DToInt2D().

◆ getImagePoint() [4/7]

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		int &	image_x,
		int &	image_y,
		float &	range
	)		const

inline

Same as above.

Definition at line 376 of file range_image.hpp.

References getImagePoint(), and real2DToInt2D().

◆ getImagePoint() [5/7]

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		float &	image_x,
		float &	image_y
	)		const

inline

Same as above.

Definition at line 340 of file range_image.hpp.

References getImagePoint().

◆ getImagePoint() [6/7]

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		float &	image_x,
		float &	image_y,
		float &	range
	)		const

inline

Same as above.

Definition at line 332 of file range_image.hpp.

References getImagePoint().

◆ getImagePoint() [7/7]

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		int &	image_x,
		int &	image_y
	)		const

inline

Same as above.

Definition at line 348 of file range_image.hpp.

References getImagePoint(), and real2DToInt2D().

◆ getImagePointFromAngles()

void pcl::RangeImage::getImagePointFromAngles	(	float	angle_x,
		float	angle_y,
		float &	image_x,
		float &	image_y
	)		const

inline

Get the image point corresponding to the given angles.

Definition at line 434 of file range_image.hpp.

Referenced by getImagePoint().

◆ getImpactAngle() [1/2]

float pcl::RangeImage::getImpactAngle	(	const PointWithRange &	point1,
		const PointWithRange &	point2
	)		const

inline

Calculate the impact angle based on the sensor position and the two given points - will return -INFINITY if one of the points is unobserved.

Definition at line 627 of file range_image.hpp.

References M_PI, pcl::_PointWithRange::range, and pcl::squaredEuclideanDistance().

Referenced by getAcutenessValue(), and getImpactAngle().

◆ getImpactAngle() [2/2]

float pcl::RangeImage::getImpactAngle	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const

inline

Same as above.

Definition at line 618 of file range_image.hpp.

References getImpactAngle(), getPoint(), and isInImage().

◆ getImpactAngleBasedOnLocalNormal()

float pcl::RangeImage::getImpactAngleBasedOnLocalNormal	(	int	x,
		int	y,
		int	radius
	)		const

inline

Extract a local normal (with a heuristic not to include background points) and calculate the impact angle based on this.

Definition at line 891 of file range_image.hpp.

References pcl::deg2rad(), getEigenVector3f(), getNormalForClosestNeighbors(), getPoint(), getSensorPos(), and isValid().

Referenced by getNormalBasedAcutenessValue().

◆ getImpactAngleImageBasedOnLocalNormals()

PCL_EXPORTS float* pcl::RangeImage::getImpactAngleImageBasedOnLocalNormals ( int radius ) const

Uses the above function for every point in the image.

◆ getIntegralImage()

PCL_EXPORTS void pcl::RangeImage::getIntegralImage	(	float *&	integral_image,
		int *&	valid_points_num_image
	)		const

Get the integral image of the range values (used for fast blur operations).

You are responsible for deleting it after usage!

◆ getInterpolatedSurfaceProjection() [1/2]

PCL_EXPORTS float* pcl::RangeImage::getInterpolatedSurfaceProjection	(	const Eigen::Affine3f &	pose,
		int	pixel_size,
		float	world_size
	)		const

Calculate a range patch as the z values of the coordinate frame given by pose.

The patch will have size pixel_size x pixel_size and each pixel covers world_size/pixel_size meters in the world You are responsible for deleting the structure afterwards!

◆ getInterpolatedSurfaceProjection() [2/2]

PCL_EXPORTS float* pcl::RangeImage::getInterpolatedSurfaceProjection	(	const Eigen::Vector3f &	point,
		int	pixel_size,
		float	world_size
	)		const

Same as above, but using the local coordinate frame defined by point and the viewing direction.

◆ getMaxAngleSize()

float pcl::RangeImage::getMaxAngleSize	(	const Eigen::Affine3f &	viewer_pose,
		const Eigen::Vector3f &	center,
		float	radius
	)

inlinestatic

Get the size of a certain area when seen from the given pose.

Parameters

viewer_pose	an affine matrix defining the pose of the viewer
center	the center of the area
radius	the radius of the area

Returns: the size of the area as viewed according to viewer_pose

Definition at line 795 of file range_image.hpp.

Referenced by createFromPointCloudWithKnownSize().

◆ getMinMaxRanges()

PCL_EXPORTS void pcl::RangeImage::getMinMaxRanges	(	float &	min_range,
		float &	max_range
	)		const

Find the minimum and maximum range in the image.

◆ getNew()

virtual PCL_EXPORTS RangeImage* pcl::RangeImage::getNew ( ) const

inlinevirtual

Return a newly created Range image.

Can be reimplemented in derived classes like RangeImagePlanar to return an image of the same type.

Reimplemented in pcl::RangeImagePlanar, and pcl::RangeImageSpherical.

Definition at line 749 of file range_image.h.

References RangeImage().

◆ getNormal()

bool pcl::RangeImage::getNormal	(	int	x,
		int	y,
		int	radius,
		Eigen::Vector3f &	normal,
		int	step_size = `1`
	)		const

inline

Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius.

step_size determines how many pixels are used. 1 means all, 2 only every second, etc.. Returns false if it was unable to calculate a normal.

Definition at line 906 of file range_image.hpp.

References pcl::VectorAverage< real, dimension >::add(), pcl::VectorAverage< real, dimension >::doPCA(), pcl::VectorAverage< real, dimension >::getMean(), pcl::VectorAverage< real, dimension >::getNoOfSamples(), getPoint(), getSensorPos(), isInImage(), and pcl::_PointWithRange::range.

◆ getNormalBasedAcutenessValue()

float pcl::RangeImage::getNormalBasedAcutenessValue	(	int	x,
		int	y,
		int	radius
	)		const

inline

Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated.

Definition at line 932 of file range_image.hpp.

References getImpactAngleBasedOnLocalNormal(), and M_PI.

◆ getNormalBasedUprightTransformation()

PCL_EXPORTS bool pcl::RangeImage::getNormalBasedUprightTransformation	(	const Eigen::Vector3f &	point,
		float	max_dist,
		Eigen::Affine3f &	transformation
	)		const

Get a local coordinate frame at the given point based on the normal.

◆ getNormalForClosestNeighbors() [1/3]

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		Eigen::Vector3f &	normal,
		int	radius = `2`
	)		const

inline

Same as above, using default values.

Definition at line 952 of file range_image.hpp.

References getNormalForClosestNeighbors(), getPoint(), and isValid().

◆ getNormalForClosestNeighbors() [2/3]

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		int	radius,
		const Eigen::Vector3f &	point,
		int	no_of_nearest_neighbors,
		Eigen::Vector3f &	normal,
		Eigen::Vector3f *	point_on_plane = `nullptr`,
		int	step_size = `1`
	)		const

inline

Same as above.

Definition at line 1089 of file range_image.hpp.

References getSurfaceInformation().

◆ getNormalForClosestNeighbors() [3/3]

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		int	radius,
		const PointWithRange &	point,
		int	no_of_nearest_neighbors,
		Eigen::Vector3f &	normal,
		int	step_size = `1`
	)		const

inline

Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered.

Definition at line 944 of file range_image.hpp.

Referenced by getImpactAngleBasedOnLocalNormal(), and getNormalForClosestNeighbors().

◆ getOverlap()

PCL_EXPORTS float pcl::RangeImage::getOverlap	(	const RangeImage &	other_range_image,
		const Eigen::Affine3f &	relative_transformation,
		int	search_radius,
		float	max_distance,
		int	pixel_step = `1`
	)		const

Calculates the overlap of two range images given the relative transformation (from the given image to *this)

◆ getPoint() [1/7]

PointWithRange & pcl::RangeImage::getPoint	(	float	image_x,
		float	image_y
	)

inline

Non-const-version of the above.

Definition at line 533 of file range_image.hpp.

References getPoint(), and real2DToInt2D().

◆ getPoint() [2/7]

const PointWithRange & pcl::RangeImage::getPoint	(	float	image_x,
		float	image_y
	)		const

inline

Return the 3d point with range at the given image position.

Definition at line 524 of file range_image.hpp.

References getPoint(), and real2DToInt2D().

◆ getPoint() [3/7]

PointWithRange & pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y
	)

inline

Non-const-version of getPoint.

Definition at line 509 of file range_image.hpp.

References pcl::PointCloud< PointWithRange >::points, and pcl::PointCloud< PointWithRange >::width.

◆ getPoint() [4/7]

const PointWithRange & pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y
	)		const

inline

Return the 3D point with range at the given image position.

Parameters

image_x	the x coordinate
image_y	the y coordinate

Returns: the point at the specified location (returns unobserved_point if outside of the image bounds)

Definition at line 486 of file range_image.hpp.

References isInImage(), pcl::PointCloud< PointWithRange >::points, unobserved_point, and pcl::PointCloud< PointWithRange >::width.

Referenced by calculate3DPoint(), checkPoint(), get1dPointAverage(), pcl::RangeImageBorderExtractor::get3dDirection(), getAcutenessValue(), getCurvature(), getEigenVector3f(), getEuclideanDistanceSquared(), pcl::RangeImagePlanar::getImagePoint(), getImpactAngle(), getImpactAngleBasedOnLocalNormal(), pcl::RangeImageBorderExtractor::getNeighborDistanceChangeScore(), getNormal(), getNormalForClosestNeighbors(), getPoint(), getRangeDifference(), getSquaredDistanceOfNthNeighbor(), getSurfaceAngleChange(), getSurfaceInformation(), getViewingDirection(), integrateFarRanges(), and isMaxRange().

◆ getPoint() [5/7]

void pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y,
		Eigen::Vector3f &	point
	)		const

inline

Same as above.

Definition at line 542 of file range_image.hpp.

References getPoint().

◆ getPoint() [6/7]

const PointWithRange & pcl::RangeImage::getPoint ( int index ) const

inline

Return the 3d point with range at the given index (whereas index=y*width+x)

Definition at line 517 of file range_image.hpp.

References pcl::PointCloud< PointWithRange >::points.

◆ getPoint() [7/7]

void pcl::RangeImage::getPoint	(	int	index,
		Eigen::Vector3f &	point
	)		const

inline

Same as above.

Definition at line 550 of file range_image.hpp.

References getPoint().

◆ getPointNoCheck() [1/2]

PointWithRange & pcl::RangeImage::getPointNoCheck	(	int	image_x,
		int	image_y
	)

inline

Non-const-version of getPointNoCheck.

Definition at line 502 of file range_image.hpp.

References pcl::PointCloud< PointWithRange >::points, and pcl::PointCloud< PointWithRange >::width.

◆ getPointNoCheck() [2/2]

const PointWithRange & pcl::RangeImage::getPointNoCheck	(	int	image_x,
		int	image_y
	)		const

inline

Return the 3D point with range at the given image position.

This method performs no error checking to make sure the specified image position is inside of the image!

Parameters

image_x	the x coordinate
image_y	the y coordinate

Returns: the point at the specified location (program may fail if the location is outside of the image bounds)

Definition at line 495 of file range_image.hpp.

References pcl::PointCloud< PointWithRange >::points, and pcl::PointCloud< PointWithRange >::width.

Referenced by get1dPointAverage(), and getSquaredDistanceOfNthNeighbor().

◆ getRangeDifference()

float pcl::RangeImage::getRangeDifference ( const Eigen::Vector3f & point ) const

inline

Returns the difference in range between the given point and the range of the point in the image at the position the given point would be.

(Return value is point_in_image.range-given_point.range)

Definition at line 415 of file range_image.hpp.

References getImagePoint(), getPoint(), isInImage(), and pcl::_PointWithRange::range.

◆ getRangeImageWithSmoothedSurface()

PCL_EXPORTS void pcl::RangeImage::getRangeImageWithSmoothedSurface	(	int	radius,
		RangeImage &	smoothed_range_image
	)		const

Project all points on the local plane approximation, thereby smoothing the surface of the scan.

◆ getRangesArray()

PCL_EXPORTS float* pcl::RangeImage::getRangesArray ( ) const

Get all the range values in one float array of size width*height.

Returns: a pointer to a new float array containing the range values

Note: This method allocates a new float array; the caller is responsible for freeing this memory.

◆ getRotationToViewerCoordinateFrame()

void pcl::RangeImage::getRotationToViewerCoordinateFrame	(	const Eigen::Vector3f &	point,
		Eigen::Affine3f &	transformation
	)		const

inline

Same as above, but only returning the rotation.

Definition at line 1187 of file range_image.hpp.

References getSensorPos(), and pcl::getTransformationFromTwoUnitVectors().

◆ getSensorPos()

const Eigen::Vector3f pcl::RangeImage::getSensorPos ( ) const

inline

Get the sensor position.

Definition at line 683 of file range_image.hpp.

References to_world_system_.

Referenced by pcl::RangeImageBorderExtractor::get3dDirection(), getImpactAngleBasedOnLocalNormal(), getNormal(), getRotationToViewerCoordinateFrame(), getSurfaceInformation(), getTransformationToViewerCoordinateFrame(), and getViewingDirection().

◆ getSquaredDistanceOfNthNeighbor()

float pcl::RangeImage::getSquaredDistanceOfNthNeighbor	(	int	x,
		int	y,
		int	radius,
		int	n,
		int	step_size
	)		const

inline

Definition at line 1059 of file range_image.hpp.

References getPoint(), getPointNoCheck(), isValid(), pcl::_PointWithRange::range, and pcl::squaredEuclideanDistance().

◆ getSubImage()

virtual void pcl::RangeImage::getSubImage	(	int	sub_image_image_offset_x,
		int	sub_image_image_offset_y,
		int	sub_image_width,
		int	sub_image_height,
		int	combine_pixels,
		RangeImage &	sub_image
	)		const

virtual

Get a sub part of the complete image as a new range image.

Parameters

sub_image_image_offset_x	- The x coordinate of the top left pixel of the sub image. This is always according to absolute 0,0 meaning -180°,-90° and it is already in the system of the new image, so the actual pixel used in the original image is combine_pixels* (image_offset_x-image_offset_x_)
sub_image_image_offset_y	- Same as image_offset_x for the y coordinate
sub_image_width	- width of the new image
sub_image_height	- height of the new image
combine_pixels	- shrinking factor, meaning the new angular resolution is combine_pixels times the old one
sub_image	- the output image

Reimplemented in pcl::RangeImagePlanar.

◆ getSurfaceAngleChange()

void pcl::RangeImage::getSurfaceAngleChange	(	int	x,
		int	y,
		int	radius,
		float &	angle_change_x,
		float &	angle_change_y
	)		const

inline

Calculates, how much the surface changes at a point.

Returns an angle [0.0f, PI] for x and y direction. A return value of -INFINITY means that a point was unobserved.

Definition at line 690 of file range_image.hpp.

References getPoint(), getTransformationToViewerCoordinateFrame(), isMaxRange(), isObserved(), and isValid().

◆ getSurfaceAngleChangeImages()

PCL_EXPORTS void pcl::RangeImage::getSurfaceAngleChangeImages	(	int	radius,
		float *&	angle_change_image_x,
		float *&	angle_change_image_y
	)		const

Uses the above function for every point in the image.

◆ getSurfaceChange()

PCL_EXPORTS float pcl::RangeImage::getSurfaceChange	(	int	x,
		int	y,
		int	radius
	)		const

Calculates, how much the surface changes at a point.

Pi meaning a flat surface and 0.0f would be a needle point Calculates, how much the surface changes at a point. 1 meaning a 90deg angle and 0 a flat surface

◆ getSurfaceChangeImage()

PCL_EXPORTS float* pcl::RangeImage::getSurfaceChangeImage ( int radius ) const

Uses the above function for every point in the image.

◆ getSurfaceInformation()

bool pcl::RangeImage::getSurfaceInformation	(	int	x,
		int	y,
		int	radius,
		const Eigen::Vector3f &	point,
		int	no_of_closest_neighbors,
		int	step_size,
		float &	max_closest_neighbor_distance_squared,
		Eigen::Vector3f &	normal,
		Eigen::Vector3f &	mean,
		Eigen::Vector3f &	eigen_values,
		Eigen::Vector3f *	normal_all_neighbors = `nullptr`,
		Eigen::Vector3f *	mean_all_neighbors = `nullptr`,
		Eigen::Vector3f *	eigen_values_all_neighbors = `nullptr`
	)		const

inline

Same as above but extracts some more data and can also return the extracted information for all neighbors in radius if normal_all_neighbors is not NULL.

Definition at line 972 of file range_image.hpp.

References pcl::VectorAverage< real, dimension >::add(), pcl::geometry::distance(), pcl::VectorAverage< real, dimension >::doPCA(), pcl::VectorAverage< real, dimension >::getMean(), pcl::VectorAverage< real, dimension >::getNoOfSamples(), getPoint(), getSensorPos(), isValid(), and pcl::squaredEuclideanDistance().

Referenced by getNormalForClosestNeighbors().

◆ getTransformationToRangeImageSystem()

const Eigen::Affine3f& pcl::RangeImage::getTransformationToRangeImageSystem ( ) const

inline

Getter for the transformation from the world system into the range image system (the sensor coordinate frame)

Definition at line 337 of file range_image.h.

References to_range_image_system_.

◆ getTransformationToViewerCoordinateFrame() [1/2]

Eigen::Affine3f pcl::RangeImage::getTransformationToViewerCoordinateFrame ( const Eigen::Vector3f & point ) const

inline

Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.

Definition at line 1170 of file range_image.hpp.

Referenced by getSurfaceAngleChange().

◆ getTransformationToViewerCoordinateFrame() [2/2]

void pcl::RangeImage::getTransformationToViewerCoordinateFrame	(	const Eigen::Vector3f &	point,
		Eigen::Affine3f &	transformation
	)		const

inline

Same as above, using a reference for the retrurn value.

Definition at line 1179 of file range_image.hpp.

References getSensorPos(), and pcl::getTransformationFromTwoUnitVectorsAndOrigin().

◆ getTransformationToWorldSystem()

const Eigen::Affine3f& pcl::RangeImage::getTransformationToWorldSystem ( ) const

inline

Getter for the transformation from the range image system (the sensor coordinate frame) into the world system.

Definition at line 347 of file range_image.h.

References to_world_system_.

◆ getViewingDirection() [1/2]

void pcl::RangeImage::getViewingDirection	(	const Eigen::Vector3f &	point,
		Eigen::Vector3f &	viewing_direction
	)		const

inline

Get the viewing direction for the given point.

Definition at line 1163 of file range_image.hpp.

References getSensorPos().

◆ getViewingDirection() [2/2]

bool pcl::RangeImage::getViewingDirection	(	int	x,
		int	y,
		Eigen::Vector3f &	viewing_direction
	)		const

inline

Get the viewing direction for the given point.

Definition at line 1153 of file range_image.hpp.

References getPoint(), getSensorPos(), and isValid().

◆ integrateFarRanges()

template<typename PointCloudType >

void pcl::RangeImage::integrateFarRanges ( const PointCloudType & far_ranges )

Integrates the given far range measurements into the range image.

Definition at line 1229 of file range_image.hpp.

References getImagePoint(), getPoint(), isInImage(), pcl_lrint, and pcl::_PointWithRange::range.

◆ isInImage()

bool pcl::RangeImage::isInImage	(	int	x,
		int	y
	)		const

inline

Check if a point is inside of the image.

Definition at line 450 of file range_image.hpp.

References pcl::PointCloud< PointWithRange >::height, and pcl::PointCloud< PointWithRange >::width.

Referenced by pcl::RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue(), pcl::RangeImageBorderExtractor::checkIfMaximum(), checkPoint(), pcl::RangeImageBorderExtractor::checkPotentialBorder(), doZBuffer(), getAcutenessValue(), getCurvature(), pcl::RangeImagePlanar::getImagePoint(), getImpactAngle(), getNormal(), getPoint(), getRangeDifference(), integrateFarRanges(), and pcl::RangeImageBorderExtractor::updatedScoreAccordingToNeighborValues().

◆ isMaxRange()

bool pcl::RangeImage::isMaxRange	(	int	x,
		int	y
	)		const

inline

Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!

Definition at line 478 of file range_image.hpp.

References getPoint(), and pcl::_PointWithRange::range.

Referenced by pcl::RangeImageBorderExtractor::changeScoreAccordingToShadowBorderValue(), and getSurfaceAngleChange().

◆ isObserved()

bool pcl::RangeImage::isObserved	(	int	x,
		int	y
	)		const

inline

Check if a point is inside of the image and has either a finite range or a max reading (range=INFINITY)

Definition at line 471 of file range_image.hpp.

Referenced by getEuclideanDistanceSquared(), and getSurfaceAngleChange().

◆ isValid() [1/2]

bool pcl::RangeImage::isValid ( int index ) const

inline

Check if a point has a finite range.

Definition at line 464 of file range_image.hpp.

◆ isValid() [2/2]

bool pcl::RangeImage::isValid	(	int	x,
		int	y
	)		const

inline

Check if a point is inside of the image and has a finite range.

Definition at line 457 of file range_image.hpp.

Referenced by pcl::RangeImageBorderExtractor::calculateMainPrincipalCurvature(), get1dPointAverage(), getImpactAngleBasedOnLocalNormal(), getNormalForClosestNeighbors(), getSquaredDistanceOfNthNeighbor(), getSurfaceAngleChange(), getSurfaceInformation(), and getViewingDirection().

◆ makeShared()

Ptr pcl::RangeImage::makeShared ( )

inline

Get a boost shared pointer of a copy of this.

Definition at line 124 of file range_image.h.

◆ real2DToInt2D()

void pcl::RangeImage::real2DToInt2D	(	float	x,
		float	y,
		int &	xInt,
		int &	yInt
	)		const

inline

Transforms an image point in float values to an image point in int values.

Definition at line 442 of file range_image.hpp.

Referenced by doZBuffer(), getImagePoint(), and getPoint().

◆ recalculate3DPointPositions()

PCL_EXPORTS void pcl::RangeImage::recalculate3DPointPositions ( )

Recalculate all 3D point positions according to their pixel position and range.

Referenced by createFromPointCloud(), pcl::RangeImagePlanar::createFromPointCloudWithFixedSize(), and createFromPointCloudWithKnownSize().

◆ reset()

PCL_EXPORTS void pcl::RangeImage::reset ( )

Reset all values to an empty range image.

◆ setAngularResolution() [1/2]

void pcl::RangeImage::setAngularResolution ( float angular_resolution )

inline

Set the angular resolution of the range image.

Parameters

angular_resolution the new angular resolution in x and y direction (in radians per pixel)

Definition at line 1195 of file range_image.hpp.

References angular_resolution_x_, angular_resolution_x_reciprocal_, angular_resolution_y_, and angular_resolution_y_reciprocal_.

Referenced by createFromPointCloud(), and createFromPointCloudWithKnownSize().

◆ setAngularResolution() [2/2]

void pcl::RangeImage::setAngularResolution	(	float	angular_resolution_x,
		float	angular_resolution_y
	)

inline

Set the angular resolution of the range image.

Parameters

angular_resolution_x	the new angular resolution in x direction (in radians per pixel)
angular_resolution_y	the new angular resolution in y direction (in radians per pixel)

Definition at line 1203 of file range_image.hpp.

References angular_resolution_x_, angular_resolution_x_reciprocal_, angular_resolution_y_, and angular_resolution_y_reciprocal_.

◆ setImageOffsets()

void pcl::RangeImage::setImageOffsets	(	int	offset_x,
		int	offset_y
	)

inline

Setter for image offsets.

Definition at line 637 of file range_image.h.

References image_offset_x_, and image_offset_y_.

◆ setTransformationToRangeImageSystem()

void pcl::RangeImage::setTransformationToRangeImageSystem ( const Eigen::Affine3f & to_range_image_system )

inline

Setter for the transformation from the range image system (the sensor coordinate frame) into the world system.

Definition at line 1213 of file range_image.hpp.

References to_range_image_system_, and to_world_system_.

◆ setUnseenToMaxRange()

PCL_EXPORTS void pcl::RangeImage::setUnseenToMaxRange ( )

Sets all -INFINITY values to INFINITY.

Member Data Documentation

◆ angular_resolution_x_

float pcl::RangeImage::angular_resolution_x_ {0.0f}

protected

Angular resolution of the range image in x direction in radians per pixel.

Definition at line 770 of file range_image.h.

Referenced by getAnglesFromImagePoint(), pcl::RangeImageSpherical::getAnglesFromImagePoint(), getAngularResolution(), getAngularResolutionX(), and setAngularResolution().

◆ angular_resolution_x_reciprocal_

float pcl::RangeImage::angular_resolution_x_reciprocal_ {0.0f}

protected

1.0/angular_resolution_x_ - provided for better performance of multiplication compared to division

Definition at line 772 of file range_image.h.

Referenced by pcl::RangeImagePlanar::calculate3DPoint(), createFromPointCloud(), createFromPointCloudWithKnownSize(), pcl::RangeImageSpherical::getImagePointFromAngles(), and setAngularResolution().

◆ angular_resolution_y_

float pcl::RangeImage::angular_resolution_y_ {0.0f}

protected

Angular resolution of the range image in y direction in radians per pixel.

Definition at line 771 of file range_image.h.

Referenced by getAnglesFromImagePoint(), pcl::RangeImageSpherical::getAnglesFromImagePoint(), getAngularResolution(), getAngularResolutionY(), and setAngularResolution().

◆ angular_resolution_y_reciprocal_

float pcl::RangeImage::angular_resolution_y_reciprocal_ {0.0f}

protected

1.0/angular_resolution_y_ - provided for better performance of multiplication compared to division

Definition at line 774 of file range_image.h.

Referenced by pcl::RangeImagePlanar::calculate3DPoint(), createFromPointCloud(), createFromPointCloudWithKnownSize(), pcl::RangeImageSpherical::getImagePointFromAngles(), and setAngularResolution().

◆ asin_lookup_table

std::vector<float> pcl::RangeImage::asin_lookup_table

staticprotected

Definition at line 786 of file range_image.h.

Referenced by asinLookUp().

◆ atan_lookup_table

std::vector<float> pcl::RangeImage::atan_lookup_table

staticprotected

Definition at line 787 of file range_image.h.

Referenced by atan2LookUp().

◆ cos_lookup_table

std::vector<float> pcl::RangeImage::cos_lookup_table

staticprotected

Definition at line 788 of file range_image.h.

Referenced by cosLookUp().

◆ debug

bool pcl::RangeImage::debug

static

Just for...

well... debugging purposes. :-)

Definition at line 764 of file range_image.h.

◆ image_offset_x_

int pcl::RangeImage::image_offset_x_ {0}

protected

Definition at line 776 of file range_image.h.

Referenced by pcl::RangeImagePlanar::calculate3DPoint(), createFromPointCloud(), createFromPointCloudWithKnownSize(), getAnglesFromImagePoint(), pcl::RangeImageSpherical::getAnglesFromImagePoint(), getImageOffsetX(), pcl::RangeImagePlanar::getImagePoint(), pcl::RangeImageSpherical::getImagePointFromAngles(), and setImageOffsets().

◆ image_offset_y_

int pcl::RangeImage::image_offset_y_ {0}

protected

Position of the top left corner of the range image compared to an image of full size (360x180 degrees)

Definition at line 776 of file range_image.h.

Referenced by pcl::RangeImagePlanar::calculate3DPoint(), createFromPointCloud(), createFromPointCloudWithKnownSize(), getAnglesFromImagePoint(), pcl::RangeImageSpherical::getAnglesFromImagePoint(), getImageOffsetY(), pcl::RangeImagePlanar::getImagePoint(), pcl::RangeImageSpherical::getImagePointFromAngles(), and setImageOffsets().

◆ lookup_table_size

const int pcl::RangeImage::lookup_table_size

staticprotected

Definition at line 785 of file range_image.h.

Referenced by asinLookUp(), atan2LookUp(), and cosLookUp().

◆ max_no_of_threads

int pcl::RangeImage::max_no_of_threads

static

The maximum number of openmp threads that can be used in this class.

Definition at line 78 of file range_image.h.

◆ to_range_image_system_

Eigen::Affine3f pcl::RangeImage::to_range_image_system_

protected

Inverse of to_world_system_.

Definition at line 768 of file range_image.h.

Referenced by createFromPointCloud(), pcl::RangeImagePlanar::createFromPointCloudWithFixedSize(), createFromPointCloudWithKnownSize(), getImagePoint(), pcl::RangeImageSpherical::getImagePoint(), pcl::RangeImagePlanar::getImagePoint(), getTransformationToRangeImageSystem(), and setTransformationToRangeImageSystem().

◆ to_world_system_

Eigen::Affine3f pcl::RangeImage::to_world_system_

protected

Inverse of to_range_image_system_.

Definition at line 769 of file range_image.h.

Referenced by calculate3DPoint(), pcl::RangeImageSpherical::calculate3DPoint(), pcl::RangeImagePlanar::calculate3DPoint(), createFromPointCloud(), pcl::RangeImagePlanar::createFromPointCloudWithFixedSize(), createFromPointCloudWithKnownSize(), getSensorPos(), getTransformationToWorldSystem(), and setTransformationToRangeImageSystem().

◆ unobserved_point

PointWithRange pcl::RangeImage::unobserved_point

protected

This point is used to be able to return a reference to a non-existing point.

Definition at line 778 of file range_image.h.

Referenced by checkPoint(), createFromPointCloud(), pcl::RangeImagePlanar::createFromPointCloudWithFixedSize(), createFromPointCloudWithKnownSize(), get1dPointAverage(), and getPoint().

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

pcl/range_image/range_image.h
pcl/range_image/impl/range_image.hpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ BaseClass

◆ ConstPtr

◆ Ptr

◆ VectorOfEigenVector3f

Member Enumeration Documentation

◆ CoordinateFrame

Constructor & Destructor Documentation

◆ RangeImage()

◆ ~RangeImage()

Member Function Documentation

◆ asinLookUp()

◆ atan2LookUp()

◆ calculate3DPoint() [1/4]

◆ calculate3DPoint() [2/4]

◆ calculate3DPoint() [3/4]

◆ calculate3DPoint() [4/4]

◆ change3dPointsToLocalCoordinateFrame()

◆ checkPoint()

◆ copyTo()

◆ cosLookUp()

◆ createEmpty() [1/2]

◆ createEmpty() [2/2]

◆ createFromPointCloud() [1/2]

◆ createFromPointCloud() [2/2]

◆ createFromPointCloudWithKnownSize() [1/2]

◆ createFromPointCloudWithKnownSize() [2/2]

◆ createFromPointCloudWithViewpoints() [1/2]

◆ createFromPointCloudWithViewpoints() [2/2]

◆ createLookupTables()

◆ cropImage()

◆ doZBuffer()

◆ extractFarRanges()

◆ get1dPointAverage()

◆ getAcutenessValue() [1/2]

◆ getAcutenessValue() [2/2]

◆ getAcutenessValueImages()

◆ getAnglesFromImagePoint()

◆ getAngularResolution() [1/2]

◆ getAngularResolution() [2/2]

◆ getAngularResolutionX()

◆ getAngularResolutionY()

◆ getAverageEuclideanDistance()

◆ getAverageViewPoint()

◆ getBlurredImage()

◆ getBlurredImageUsingIntegralImage()

◆ getCoordinateFrameTransformation()

◆ getCurvature()

◆ getEigenVector3f() [1/3]

◆ getEigenVector3f() [2/3]

◆ getEigenVector3f() [3/3]

◆ getEuclideanDistanceSquared()

◆ getHalfImage()

◆ getImageOffsetX()

◆ getImageOffsetY()

◆ getImagePoint() [1/7]

◆ getImagePoint() [2/7]

◆ getImagePoint() [3/7]

◆ getImagePoint() [4/7]

◆ getImagePoint() [5/7]

◆ getImagePoint() [6/7]

◆ getImagePoint() [7/7]

◆ getImagePointFromAngles()

◆ getImpactAngle() [1/2]

◆ getImpactAngle() [2/2]

◆ getImpactAngleBasedOnLocalNormal()

◆ getImpactAngleImageBasedOnLocalNormals()

◆ getIntegralImage()

◆ getInterpolatedSurfaceProjection() [1/2]

◆ getInterpolatedSurfaceProjection() [2/2]

◆ getMaxAngleSize()