Point Cloud Library (PCL)  1.12.0-dev
range_image_planar.hpp
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38 
39 #pragma once
40 
41 #include <pcl/common/eigen.h>
42 #include <pcl/range_image/range_image_planar.h>
43 #include <pcl/pcl_macros.h>
44 
45 namespace pcl
46 {
47 
48 /////////////////////////////////////////////////////////////////////////
49 template <typename PointCloudType> void
50 RangeImagePlanar::createFromPointCloudWithFixedSize (const PointCloudType& point_cloud,
51  int di_width, int di_height,
52  float di_center_x, float di_center_y,
53  float di_focal_length_x, float di_focal_length_y,
54  const Eigen::Affine3f& sensor_pose,
55  CoordinateFrame coordinate_frame, float noise_level,
56  float min_range)
57 {
58  //std::cout << "Starting to create range image from "<<point_cloud.size ()<<" points.\n";
59 
60  width = di_width;
61  height = di_height;
62  center_x_ = di_center_x;
63  center_y_ = di_center_y;
64  focal_length_x_ = di_focal_length_x;
65  focal_length_y_ = di_focal_length_y;
68 
69  is_dense = false;
70 
72  to_world_system_ = sensor_pose * to_world_system_;
73 
74  to_range_image_system_ = to_world_system_.inverse (Eigen::Isometry);
75 
76  unsigned int size = width*height;
77  points.clear ();
78  points.resize (size, unobserved_point);
79 
80  int top=height, right=-1, bottom=-1, left=width;
81  doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);
82 
83  // Do not crop
84  //cropImage (border_size, top, right, bottom, left);
85 
87 }
88 
89 
90 /////////////////////////////////////////////////////////////////////////
91 void
92 RangeImagePlanar::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const
93 {
94  //std::cout << __PRETTY_FUNCTION__ << " called.\n";
95  float delta_x = (image_x+static_cast<float> (image_offset_x_)-center_x_)*focal_length_x_reciprocal_,
96  delta_y = (image_y+static_cast<float> (image_offset_y_)-center_y_)*focal_length_y_reciprocal_;
97  point[2] = range / (std::sqrt (delta_x*delta_x + delta_y*delta_y + 1));
98  point[0] = delta_x*point[2];
99  point[1] = delta_y*point[2];
100  point = to_world_system_ * point;
101 }
102 
103 /////////////////////////////////////////////////////////////////////////
104 inline void
105 RangeImagePlanar::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const
106 {
107  Eigen::Vector3f transformedPoint = to_range_image_system_ * point;
108  if (transformedPoint[2]<=0) // Behind the observer?
109  {
110  image_x = image_y = range = -1.0f;
111  return;
112  }
113  range = transformedPoint.norm ();
114 
115  image_x = center_x_ + focal_length_x_*transformedPoint[0]/transformedPoint[2] - static_cast<float> (image_offset_x_);
116  image_y = center_y_ + focal_length_y_*transformedPoint[1]/transformedPoint[2] - static_cast<float> (image_offset_y_);
117 }
118 
119 } // namespace pcl
120 
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
Definition: convolution.h:46
pcl::RangeImage::image_offset_y_
int image_offset_y_
Position of the top left corner of the range image compared to an image of full size (360x180 degrees...
Definition: range_image.h:776
pcl::PointCloud< PointWithRange >::height
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:400
pcl::PointCloud< PointWithRange >::points
std::vector< PointWithRange, Eigen::aligned_allocator< PointWithRange > > points
The point data.
Definition: point_cloud.h:395
pcl::RangeImagePlanar::getImagePoint
void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const override
Calculate the image point and range from the given 3D point.
Definition: range_image_planar.hpp:105
pcl::RangeImagePlanar::createFromPointCloudWithFixedSize
void createFromPointCloudWithFixedSize(const PointCloudType &point_cloud, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, const Eigen::Affine3f &sensor_pose, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f)
Create the image from an existing point cloud.
Definition: range_image_planar.hpp:50
pcl::RangeImage::to_world_system_
Eigen::Affine3f to_world_system_
Inverse of to_range_image_system_.
Definition: range_image.h:769
pcl::RangeImage::image_offset_x_
int image_offset_x_
Definition: range_image.h:776
pcl::RangeImagePlanar::center_x_
float center_x_
Definition: range_image_planar.h:211
pcl::RangeImage::to_range_image_system_
Eigen::Affine3f to_range_image_system_
Inverse of to_world_system_.
Definition: range_image.h:768
pcl::RangeImagePlanar::focal_length_x_
float focal_length_x_
Definition: range_image_planar.h:209
pcl::PointCloud< PointWithRange >::width
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:398
pcl::RangeImage::doZBuffer
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.
Definition: range_image.hpp:233
pcl::RangeImagePlanar::calculate3DPoint
void calculate3DPoint(float image_x, float image_y, float range, Eigen::Vector3f &point) const override
Calculate the 3D point according to the given image point and range.
Definition: range_image_planar.hpp:92
pcl::RangeImage::recalculate3DPointPositions
PCL_EXPORTS void recalculate3DPointPositions()
Recalculate all 3D point positions according to their pixel position and range.
pcl::RangeImagePlanar::focal_length_y_
float focal_length_y_
The focal length of the image in pixels.
Definition: range_image_planar.h:209
pcl::RangeImagePlanar::focal_length_y_reciprocal_
float focal_length_y_reciprocal_
1/focal_length -> for internal use
Definition: range_image_planar.h:210
pcl::RangeImage::CoordinateFrame
CoordinateFrame
Definition: range_image.h:63
pcl::PointCloud< PointWithRange >::is_dense
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
Definition: point_cloud.h:403
pcl::PointCloud< PointWithRange >::size
std::size_t size() const
Definition: point_cloud.h:443
pcl::RangeImage::unobserved_point
PointWithRange unobserved_point
This point is used to be able to return a reference to a non-existing point.
Definition: range_image.h:778
pcl::RangeImagePlanar::center_y_
float center_y_
The principle point of the image.
Definition: range_image_planar.h:211
pcl::RangeImagePlanar::focal_length_x_reciprocal_
float focal_length_x_reciprocal_
Definition: range_image_planar.h:210
pcl::RangeImage::getCoordinateFrameTransformation
static PCL_EXPORTS void getCoordinateFrameTransformation(RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.