/* * Software License Agreement (BSD License) * * Point Cloud Library (PCL) - www.pointclouds.org * Copyright (c) 2010, Willow Garage, Inc. * Copyright (c) 2012-, Open Perception, Inc. * * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of the copyright holder(s) nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #pragma once #include namespace pcl { /** \brief @b RangeImagePlanar is derived from the original range image and differs from it because it's not a * spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable * for range sensors that already provide a range image by themselves (stereo cameras, ToF-cameras), so that * a conversion to point cloud and then to a spherical range image becomes unnecessary. * \author Bastian Steder * \ingroup range_image */ class RangeImagePlanar : public RangeImage { public: // =====TYPEDEFS===== using BaseClass = RangeImage; using Ptr = shared_ptr; using ConstPtr = shared_ptr; // =====CONSTRUCTOR & DESTRUCTOR===== /** Constructor */ PCL_EXPORTS RangeImagePlanar (); /** Destructor */ PCL_EXPORTS ~RangeImagePlanar (); /** Return a newly created RangeImagePlanar. * Reimplementation to return an image of the same type. */ RangeImage* getNew () const override { return new RangeImagePlanar; } /** Copy *this to other. Derived version - also copying additional RangeImagePlanar members */ PCL_EXPORTS void copyTo (RangeImage& other) const override; // =====PUBLIC METHODS===== /** \brief Get a boost shared pointer of a copy of this */ inline Ptr makeShared () { return Ptr (new RangeImagePlanar (*this)); } /** \brief Create the image from an existing disparity image. * \param disparity_image the input disparity image data * \param di_width the disparity image width * \param di_height the disparity image height * \param focal_length the focal length of the primary camera that generated the disparity image * \param base_line the baseline of the stereo pair that generated the disparity image * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as * close to this angular resolution as possible while not going over this value (the density will not be * lower than this value). The value is in radians per pixel. */ PCL_EXPORTS void setDisparityImage (const float* disparity_image, int di_width, int di_height, float focal_length, float base_line, float desired_angular_resolution=-1); /** Create the image from an existing depth image. * \param depth_image the input depth image data as float values * \param di_width the disparity image width * \param di_height the disparity image height * \param di_center_x the x-coordinate of the camera's center of projection * \param di_center_y the y-coordinate of the camera's center of projection * \param di_focal_length_x the camera's focal length in the horizontal direction * \param di_focal_length_y the camera's focal length in the vertical direction * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as * close to this angular resolution as possible while not going over this value (the density will not be * lower than this value). The value is in radians per pixel. */ PCL_EXPORTS void setDepthImage (const float* depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1); /** Create the image from an existing depth image. * \param depth_image the input disparity image data as short values describing millimeters * \param di_width the disparity image width * \param di_height the disparity image height * \param di_center_x the x-coordinate of the camera's center of projection * \param di_center_y the y-coordinate of the camera's center of projection * \param di_focal_length_x the camera's focal length in the horizontal direction * \param di_focal_length_y the camera's focal length in the vertical direction * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as * close to this angular resolution as possible while not going over this value (the density will not be * lower than this value). The value is in radians per pixel. */ PCL_EXPORTS void setDepthImage (const unsigned short* depth_image, int di_width, int di_height, float di_center_x, float di_center_y, float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1); /** Create the image from an existing point cloud. * \param point_cloud the source point cloud * \param di_width the disparity image width * \param di_height the disparity image height * \param di_center_x the x-coordinate of the camera's center of projection * \param di_center_y the y-coordinate of the camera's center of projection * \param di_focal_length_x the camera's focal length in the horizontal direction * \param di_focal_length_y the camera's focal length in the vertical direction * \param sensor_pose the pose of the virtual depth camera * \param coordinate_frame the used coordinate frame of the point cloud * \param noise_level what is the typical noise of the sensor - is used for averaging in the z-buffer * \param min_range minimum range to consifder points */ template 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); // Since we reimplement some of these overloaded functions, we have to do the following: using RangeImage::calculate3DPoint; using RangeImage::getImagePoint; /** \brief Calculate the 3D point according to the given image point and range * \param image_x the x image position * \param image_y the y image position * \param range the range * \param point the resulting 3D point * \note Implementation according to planar range images (compared to spherical as in the original) */ inline void calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const override; /** \brief Calculate the image point and range from the given 3D point * \param point the resulting 3D point * \param image_x the resulting x image position * \param image_y the resulting y image position * \param range the resulting range * \note Implementation according to planar range images (compared to spherical as in the original) */ inline void getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const override; /** Get a sub part of the complete image as a new range image. * \param 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_) * \param sub_image_image_offset_y - Same as image_offset_x for the y coordinate * \param sub_image_width - width of the new image * \param sub_image_height - height of the new image * \param combine_pixels - shrinking factor, meaning the new angular resolution * is combine_pixels times the old one * \param sub_image - the output image */ PCL_EXPORTS 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 override; //! Get a range image with half the resolution PCL_EXPORTS void getHalfImage (RangeImage& half_image) const override; //! Getter for the focal length in X inline float getFocalLengthX () const { return focal_length_x_; } //! Getter for the focal length in Y inline float getFocalLengthY () const { return focal_length_y_; } //! Getter for the principal point in X inline float getCenterX () const { return center_x_; } //! Getter for the principal point in Y inline float getCenterY () const { return center_y_; } protected: float focal_length_x_, focal_length_y_; //!< The focal length of the image in pixels float focal_length_x_reciprocal_, focal_length_y_reciprocal_; //!< 1/focal_length -> for internal use float center_x_, center_y_; //!< The principle point of the image }; } // namespace end #include // Definitions of templated and inline functions