Point Cloud Library (PCL)  1.11.1-dev
point_cloud_image_extractors.h
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37 
38 #pragma once
39 
40 #include <pcl/point_cloud.h>
41 #include <pcl/PCLImage.h>
42 
43 namespace pcl
44 {
45  namespace io
46  {
47  //////////////////////////////////////////////////////////////////////////////////////
48  /** \brief Base Image Extractor class for organized point clouds.
49  *
50  * This is an abstract class that declares an interface for image extraction from
51  * organized point clouds. The family of its subclasses provide functionality to
52  * extract images from particular fields.
53  *
54  * The following piece of code demonstrates typical usage of a PointCloudImageExtractor
55  * subclass. Here the data are extracted from the "label" field and are saved as a
56  * PNG image file.
57  *
58  * \code
59  * // Source point cloud (needs to be filled with data of course)
60  * pcl::PointCloud<pcl::PointXYZLabel> cloud;
61  * // Target image
62  * pcl::PCLImage image;
63  * // Create PointCloudImageExtractor subclass that can handle "label" field
64  * pcl::io::PointCloudImageExtractorFromLabelField<pcl::XYZLabel> pcie;
65  * // Set it up if not happy with the defaults
66  * pcie.setColorMode(pcie.COLORS_RGB_RANDOM);
67  * // Try to extract an image
68  * bool success = pcie.extract(cloud, image);
69  * // Save to file if succeeded
70  * if (success)
71  * pcl::io::saveImage ("filename.png", image);
72  * \endcode
73  *
74  * \author Sergey Alexandrov
75  * \ingroup io
76  */
77  template <typename PointT>
79  {
80  public:
82 
83  using Ptr = shared_ptr<PointCloudImageExtractor<PointT> >;
84  using ConstPtr = shared_ptr<const PointCloudImageExtractor<PointT> >;
85 
86  /** \brief Constructor. */
88  : paint_nans_with_black_ (false)
89  {}
90 
91  /** \brief Destructor. */
93 
94  /** \brief Obtain the image from the given cloud.
95  * \param[in] cloud organized point cloud to extract image from
96  * \param[out] image the output image
97  * \return true if the operation was successful, false otherwise
98  */
99  bool
100  extract (const PointCloud& cloud, pcl::PCLImage& image) const;
101 
102  /** \brief Set a flag that controls if image pixels corresponding to
103  * NaN (infinite) points should be painted black.
104  */
105  inline void
107  {
108  paint_nans_with_black_ = flag;
109  }
110 
111  protected:
112 
113  /** \brief Implementation of the extract() function, has to be
114  * implemented in deriving classes.
115  */
116  virtual bool
117  extractImpl (const PointCloud& cloud, pcl::PCLImage& image) const = 0;
118 
119  /// A flag that controls if image pixels corresponding to NaN (infinite)
120  /// points should be painted black.
122  };
123 
124  //////////////////////////////////////////////////////////////////////////////////////
125  /** \brief Image Extractor extension which provides functionality to apply scaling to
126  * the values extracted from a field.
127  * \author Sergey Alexandrov
128  * \ingroup io
129  */
130  template <typename PointT>
132  {
134 
135  public:
136  using Ptr = shared_ptr<PointCloudImageExtractorWithScaling<PointT> >;
137  using ConstPtr = shared_ptr<const PointCloudImageExtractorWithScaling<PointT> >;
138 
139  /** \brief Different scaling methods.
140  * <ul>
141  * <li><b>SCALING_NO</b> - no scaling.</li>
142  * <li><b>SCALING_FULL_RANGE</b> - scales to full range of the output value.</li>
143  * <li><b>SCASING_FIXED_FACTOR</b> - scales by a given fixed factor.</li>
144  * </ul>
145  */
147  {
151  };
152 
153  /** \brief Constructor. */
154  PointCloudImageExtractorWithScaling (const std::string& field_name, const ScalingMethod scaling_method)
155  : field_name_ (field_name)
156  , scaling_method_ (scaling_method)
157  , scaling_factor_ (1.0f)
158  {
159  }
160 
161  /** \brief Constructor. */
162  PointCloudImageExtractorWithScaling (const std::string& field_name, const float scaling_factor)
163  : field_name_ (field_name)
165  , scaling_factor_ (scaling_factor)
166  {
167  }
168 
169  /** \brief Destructor. */
171 
172  /** \brief Set scaling method. */
173  inline void
174  setScalingMethod (const ScalingMethod scaling_method)
175  {
176  scaling_method_ = scaling_method;
177  }
178 
179  /** \brief Set fixed scaling factor. */
180  inline void
181  setScalingFactor (const float scaling_factor)
182  {
183  scaling_factor_ = scaling_factor;
184  }
185 
186  protected:
187 
188  bool
189  extractImpl (const PointCloud& cloud, pcl::PCLImage& image) const override;
190 
191  std::string field_name_;
194  };
195 
196  //////////////////////////////////////////////////////////////////////////////////////
197  /** \brief Image Extractor which uses the data present in the "normal" field. Normal
198  * vector components (x, y, z) are mapped to color channels (r, g, b respectively).
199  * \author Sergey Alexandrov
200  * \ingroup io
201  */
202  template <typename PointT>
204  {
206 
207  public:
208  using Ptr = shared_ptr<PointCloudImageExtractorFromNormalField<PointT> >;
209  using ConstPtr = shared_ptr<const PointCloudImageExtractorFromNormalField<PointT> >;
210 
211  /** \brief Constructor. */
213 
214  /** \brief Destructor. */
216 
217  protected:
218 
219  bool
220  extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const override;
221  };
222 
223  //////////////////////////////////////////////////////////////////////////////////////
224  /** \brief Image Extractor which uses the data present in the "rgb" or "rgba" fields
225  * to produce a color image with rgb8 encoding.
226  * \author Sergey Alexandrov
227  * \ingroup io
228  */
229  template <typename PointT>
231  {
233 
234  public:
235  using Ptr = shared_ptr<PointCloudImageExtractorFromRGBField<PointT> >;
236  using ConstPtr = shared_ptr<const PointCloudImageExtractorFromRGBField<PointT> >;
237 
238  /** \brief Constructor. */
240 
241  /** \brief Destructor. */
243 
244  protected:
245 
246  bool
247  extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const override;
248  };
249 
250  //////////////////////////////////////////////////////////////////////////////////////
251  /** \brief Image Extractor which uses the data present in the "label" field to produce
252  * either monochrome or RGB image where different labels correspond to different
253  * colors.
254  * See the documentation for ColorMode to learn about available coloring options.
255  * \author Sergey Alexandrov
256  * \ingroup io
257  */
258  template <typename PointT>
260  {
262 
263  public:
264  using Ptr = shared_ptr<PointCloudImageExtractorFromLabelField<PointT> >;
265  using ConstPtr = shared_ptr<const PointCloudImageExtractorFromLabelField<PointT> >;
266 
267  /** \brief Different modes for color mapping. */
269  {
270  /// Shades of gray (according to label id)
271  /// \note Labels using more than 16 bits will cause problems
273  /// Randomly generated RGB colors
275  /// Fixed RGB colors from the [Glasbey lookup table](http://fiji.sc/Glasbey),
276  /// assigned in the ascending order of label id
278  };
279 
280  /** \brief Constructor. */
282  : color_mode_ (color_mode)
283  {
284  }
285 
286  /** \brief Destructor. */
288 
289  /** \brief Set color mapping mode. */
290  inline void
291  setColorMode (const ColorMode color_mode)
292  {
293  color_mode_ = color_mode;
294  }
295 
296  protected:
297 
298  bool
299  extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const override;
300 
301  // Members derived from the base class
303 
304  private:
305 
306  ColorMode color_mode_;
307  };
308 
309  //////////////////////////////////////////////////////////////////////////////////////
310  /** \brief Image Extractor which uses the data present in the "z" field to produce a
311  * depth map (as a monochrome image with mono16 encoding).
312  * \author Sergey Alexandrov
313  * \ingroup io
314  */
315  template <typename PointT>
317  {
320 
321  public:
322  using Ptr = shared_ptr<PointCloudImageExtractorFromZField<PointT> >;
323  using ConstPtr = shared_ptr<const PointCloudImageExtractorFromZField<PointT> >;
324 
325  /** \brief Constructor.
326  * \param[in] scaling_factor a scaling factor to apply to each depth value (default 10000)
327  */
328  PointCloudImageExtractorFromZField (const float scaling_factor = 10000)
329  : PointCloudImageExtractorWithScaling<PointT> ("z", scaling_factor)
330  {
331  }
332 
333  /** \brief Constructor.
334  * \param[in] scaling_method a scaling method to use
335  */
337  : PointCloudImageExtractorWithScaling<PointT> ("z", scaling_method)
338  {
339  }
340 
341  /** \brief Destructor. */
343 
344  protected:
345  // Members derived from the base class
349  };
350 
351  //////////////////////////////////////////////////////////////////////////////////////
352  /** \brief Image Extractor which uses the data present in the "curvature" field to
353  * produce a curvature map (as a monochrome image with mono16 encoding).
354  * \author Sergey Alexandrov
355  * \ingroup io
356  */
357  template <typename PointT>
359  {
362 
363  public:
364  using Ptr = shared_ptr<PointCloudImageExtractorFromCurvatureField<PointT> >;
365  using ConstPtr = shared_ptr<const PointCloudImageExtractorFromCurvatureField<PointT> >;
366 
367  /** \brief Constructor.
368  * \param[in] scaling_method a scaling method to use (default SCALING_FULL_RANGE)
369  */
371  : PointCloudImageExtractorWithScaling<PointT> ("curvature", scaling_method)
372  {
373  }
374 
375  /** \brief Constructor.
376  * \param[in] scaling_factor a scaling factor to apply to each curvature value
377  */
378  PointCloudImageExtractorFromCurvatureField (const float scaling_factor)
379  : PointCloudImageExtractorWithScaling<PointT> ("curvature", scaling_factor)
380  {
381  }
382 
383  /** \brief Destructor. */
385 
386  protected:
387  // Members derived from the base class
391  };
392 
393  //////////////////////////////////////////////////////////////////////////////////////
394  /** \brief Image Extractor which uses the data present in the "intensity" field to produce a
395  * monochrome intensity image (with mono16 encoding).
396  * \author Sergey Alexandrov
397  * \ingroup io
398  */
399  template <typename PointT>
401  {
404 
405  public:
406  using Ptr = shared_ptr<PointCloudImageExtractorFromIntensityField<PointT> >;
407  using ConstPtr = shared_ptr<const PointCloudImageExtractorFromIntensityField<PointT> >;
408 
409  /** \brief Constructor.
410  * \param[in] scaling_method a scaling method to use (default SCALING_NO)
411  */
413  : PointCloudImageExtractorWithScaling<PointT> ("intensity", scaling_method)
414  {
415  }
416 
417  /** \brief Constructor.
418  * \param[in] scaling_factor a scaling factor to apply to each intensity value
419  */
420  PointCloudImageExtractorFromIntensityField (const float scaling_factor)
421  : PointCloudImageExtractorWithScaling<PointT> ("intensity", scaling_factor)
422  {
423  }
424 
425  /** \brief Destructor. */
427 
428  protected:
429  // Members derived from the base class
433  };
434 
435  }
436 }
437 
438 #include <pcl/io/impl/point_cloud_image_extractors.hpp>
pcl::io::PointCloudImageExtractorFromLabelField::COLORS_RGB_GLASBEY
@ COLORS_RGB_GLASBEY
Fixed RGB colors from the Glasbey lookup table, assigned in the ascending order of label id.
Definition: point_cloud_image_extractors.h:277
pcl::io::PointCloudImageExtractorFromIntensityField::PointCloudImageExtractorFromIntensityField
PointCloudImageExtractorFromIntensityField(const float scaling_factor)
Constructor.
Definition: point_cloud_image_extractors.h:420
pcl
Definition: convolution.h:46
pcl::io::PointCloudImageExtractor::Ptr
shared_ptr< PointCloudImageExtractor< PointT > > Ptr
Definition: point_cloud_image_extractors.h:83
pcl::io::PointCloudImageExtractor::paint_nans_with_black_
bool paint_nans_with_black_
A flag that controls if image pixels corresponding to NaN (infinite) points should be painted black.
Definition: point_cloud_image_extractors.h:121
pcl::io::PointCloudImageExtractorWithScaling::PointCloudImageExtractorWithScaling
PointCloudImageExtractorWithScaling(const std::string &field_name, const ScalingMethod scaling_method)
Constructor.
Definition: point_cloud_image_extractors.h:154
pcl::io::PointCloudImageExtractorWithScaling::SCALING_FULL_RANGE
@ SCALING_FULL_RANGE
Definition: point_cloud_image_extractors.h:149
pcl::io::PointCloudImageExtractorFromIntensityField::PointCloudImageExtractorFromIntensityField
PointCloudImageExtractorFromIntensityField(const ScalingMethod scaling_method=PointCloudImageExtractorWithScaling< PointT >::SCALING_NO)
Constructor.
Definition: point_cloud_image_extractors.h:412
pcl::io::PointCloudImageExtractorFromLabelField
Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB ...
Definition: point_cloud_image_extractors.h:259
pcl::io::PointCloudImageExtractorWithScaling::SCALING_FIXED_FACTOR
@ SCALING_FIXED_FACTOR
Definition: point_cloud_image_extractors.h:150
pcl::io::PointCloudImageExtractorWithScaling::extractImpl
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &image) const override
Implementation of the extract() function, has to be implemented in deriving classes.
Definition: point_cloud_image_extractors.hpp:244
pcl::io::PointCloudImageExtractorFromNormalField
Image Extractor which uses the data present in the "normal" field.
Definition: point_cloud_image_extractors.h:203
pcl::io::PointCloudImageExtractorFromLabelField::~PointCloudImageExtractorFromLabelField
~PointCloudImageExtractorFromLabelField()
Destructor.
Definition: point_cloud_image_extractors.h:287
pcl::io::PointCloudImageExtractorFromIntensityField
Image Extractor which uses the data present in the "intensity" field to produce a monochrome intensit...
Definition: point_cloud_image_extractors.h:400
pcl::io::PointCloudImageExtractorFromCurvatureField::PointCloudImageExtractorFromCurvatureField
PointCloudImageExtractorFromCurvatureField(const float scaling_factor)
Constructor.
Definition: point_cloud_image_extractors.h:378
pcl::io::PointCloudImageExtractorFromLabelField::setColorMode
void setColorMode(const ColorMode color_mode)
Set color mapping mode.
Definition: point_cloud_image_extractors.h:291
pcl::io::PointCloudImageExtractorFromLabelField::extractImpl
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &img) const override
Implementation of the extract() function, has to be implemented in deriving classes.
Definition: point_cloud_image_extractors.hpp:139
pcl::io::PointCloudImageExtractorWithScaling::setScalingMethod
void setScalingMethod(const ScalingMethod scaling_method)
Set scaling method.
Definition: point_cloud_image_extractors.h:174
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::io::PointCloudImageExtractorFromCurvatureField::PointCloudImageExtractorFromCurvatureField
PointCloudImageExtractorFromCurvatureField(const ScalingMethod scaling_method=PointCloudImageExtractorWithScaling< PointT >::SCALING_FULL_RANGE)
Constructor.
Definition: point_cloud_image_extractors.h:370
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition: point_types.hpp:628
pcl::io::PointCloudImageExtractorFromZField::PointCloudImageExtractorFromZField
PointCloudImageExtractorFromZField(const float scaling_factor=10000)
Constructor.
Definition: point_cloud_image_extractors.h:328
pcl::io::PointCloudImageExtractor::extract
bool extract(const PointCloud &cloud, pcl::PCLImage &image) const
Obtain the image from the given cloud.
Definition: point_cloud_image_extractors.hpp:51
pcl::io::PointCloudImageExtractorFromRGBField::extractImpl
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &img) const override
Implementation of the extract() function, has to be implemented in deriving classes.
Definition: point_cloud_image_extractors.hpp:107
pcl::io::PointCloudImageExtractorFromRGBField
Image Extractor which uses the data present in the "rgb" or "rgba" fields to produce a color image wi...
Definition: point_cloud_image_extractors.h:230
pcl::io::PointCloudImageExtractorFromRGBField::~PointCloudImageExtractorFromRGBField
~PointCloudImageExtractorFromRGBField()
Destructor.
Definition: point_cloud_image_extractors.h:242
pcl::io::PointCloudImageExtractorWithScaling::~PointCloudImageExtractorWithScaling
~PointCloudImageExtractorWithScaling()
Destructor.
Definition: point_cloud_image_extractors.h:170
pcl::io::PointCloudImageExtractorFromZField::~PointCloudImageExtractorFromZField
~PointCloudImageExtractorFromZField()
Destructor.
Definition: point_cloud_image_extractors.h:342
pcl::io::PointCloudImageExtractor
Base Image Extractor class for organized point clouds.
Definition: point_cloud_image_extractors.h:78
pcl::io::PointCloudImageExtractorWithScaling::SCALING_NO
@ SCALING_NO
Definition: point_cloud_image_extractors.h:148
pcl::io::PointCloudImageExtractorFromLabelField::COLORS_RGB_RANDOM
@ COLORS_RGB_RANDOM
Randomly generated RGB colors.
Definition: point_cloud_image_extractors.h:274
pcl::io::PointCloudImageExtractorFromRGBField::PointCloudImageExtractorFromRGBField
PointCloudImageExtractorFromRGBField()
Constructor.
Definition: point_cloud_image_extractors.h:239
pcl::io::PointCloudImageExtractorFromCurvatureField::~PointCloudImageExtractorFromCurvatureField
~PointCloudImageExtractorFromCurvatureField()
Destructor.
Definition: point_cloud_image_extractors.h:384
pcl::io::PointCloudImageExtractor::ConstPtr
shared_ptr< const PointCloudImageExtractor< PointT > > ConstPtr
Definition: point_cloud_image_extractors.h:84
pcl::io::PointCloudImageExtractorFromCurvatureField
Image Extractor which uses the data present in the "curvature" field to produce a curvature map (as a...
Definition: point_cloud_image_extractors.h:358
pcl::io::PointCloudImageExtractorWithScaling::scaling_method_
ScalingMethod scaling_method_
Definition: point_cloud_image_extractors.h:192
pcl::io::PointCloudImageExtractorFromIntensityField::~PointCloudImageExtractorFromIntensityField
~PointCloudImageExtractorFromIntensityField()
Destructor.
Definition: point_cloud_image_extractors.h:426
pcl::io::PointCloudImageExtractorWithScaling::field_name_
std::string field_name_
Definition: point_cloud_image_extractors.h:191
pcl::io::PointCloudImageExtractorWithScaling
Image Extractor extension which provides functionality to apply scaling to the values extracted from ...
Definition: point_cloud_image_extractors.h:131
pcl::io::PointCloudImageExtractorFromZField::PointCloudImageExtractorFromZField
PointCloudImageExtractorFromZField(const ScalingMethod scaling_method)
Constructor.
Definition: point_cloud_image_extractors.h:336
pcl::io::PointCloudImageExtractor::~PointCloudImageExtractor
virtual ~PointCloudImageExtractor()
Destructor.
Definition: point_cloud_image_extractors.h:92
pcl::io::PointCloudImageExtractorFromLabelField::ColorMode
ColorMode
Different modes for color mapping.
Definition: point_cloud_image_extractors.h:268
pcl::io::PointCloudImageExtractorFromNormalField::extractImpl
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &img) const override
Implementation of the extract() function, has to be implemented in deriving classes.
Definition: point_cloud_image_extractors.hpp:71
pcl::io::PointCloudImageExtractorWithScaling::setScalingFactor
void setScalingFactor(const float scaling_factor)
Set fixed scaling factor.
Definition: point_cloud_image_extractors.h:181
pcl::io::PointCloudImageExtractorFromLabelField::COLORS_MONO
@ COLORS_MONO
Shades of gray (according to label id)
Definition: point_cloud_image_extractors.h:272
pcl::io::PointCloudImageExtractor::setPaintNaNsWithBlack
void setPaintNaNsWithBlack(bool flag)
Set a flag that controls if image pixels corresponding to NaN (infinite) points should be painted bla...
Definition: point_cloud_image_extractors.h:106
pcl::PCLImage
Definition: PCLImage.h:12
pcl::io::PointCloudImageExtractorFromNormalField::PointCloudImageExtractorFromNormalField
PointCloudImageExtractorFromNormalField()
Constructor.
Definition: point_cloud_image_extractors.h:212
pcl::io::PointCloudImageExtractorFromLabelField::PointCloudImageExtractorFromLabelField
PointCloudImageExtractorFromLabelField(const ColorMode color_mode=COLORS_MONO)
Constructor.
Definition: point_cloud_image_extractors.h:281
pcl::io::PointCloudImageExtractorFromNormalField::~PointCloudImageExtractorFromNormalField
~PointCloudImageExtractorFromNormalField()
Destructor.
Definition: point_cloud_image_extractors.h:215
pcl::io::PointCloudImageExtractorWithScaling::ScalingMethod
ScalingMethod
Different scaling methods.
Definition: point_cloud_image_extractors.h:146
pcl::io::PointCloudImageExtractorWithScaling::scaling_factor_
float scaling_factor_
Definition: point_cloud_image_extractors.h:193
pcl::io::PointCloudImageExtractorWithScaling::PointCloudImageExtractorWithScaling
PointCloudImageExtractorWithScaling(const std::string &field_name, const float scaling_factor)
Constructor.
Definition: point_cloud_image_extractors.h:162
pcl::io::PointCloudImageExtractor::PointCloudImageExtractor
PointCloudImageExtractor()
Constructor.
Definition: point_cloud_image_extractors.h:87
pcl::io::PointCloudImageExtractor::extractImpl
virtual bool extractImpl(const PointCloud &cloud, pcl::PCLImage &image) const =0
Implementation of the extract() function, has to be implemented in deriving classes.
pcl::io::PointCloudImageExtractorFromZField
Image Extractor which uses the data present in the "z" field to produce a depth map (as a monochrome ...
Definition: point_cloud_image_extractors.h:316