140 lines
4.8 KiB
C++
140 lines
4.8 KiB
C++
/*
|
|
* Software License Agreement (BSD License)
|
|
*
|
|
* Point Cloud Library (PCL) - www.pointclouds.org
|
|
* Copyright (c) 2014-, 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 <pcl/stereo/disparity_map_converter.h>
|
|
#include <pcl/point_types.h>
|
|
|
|
namespace pcl {
|
|
|
|
/** \brief Build a Digital Elevation Map in the column-disparity space from a disparity
|
|
* map and a color image of the scene.
|
|
*
|
|
* Example of usage:
|
|
*
|
|
* \code
|
|
* pcl::PointCloud<pcl::PointDEM>::Ptr cloud (new
|
|
* pcl::PointCloud<pcl::PointDEM>);
|
|
* pcl::PointCloud<pcl::RGB>::Ptr left_image (new
|
|
* pcl::PointCloud<pcl::RGB>);
|
|
* // Fill left image cloud.
|
|
*
|
|
* pcl::DigitalElevationMapBuilder demb;
|
|
* demb.setBaseline (0.8387445f);
|
|
* demb.setFocalLength (368.534700f);
|
|
* demb.setImageCenterX (318.112200f);
|
|
* demb.setImageCenterY (224.334900f);
|
|
* demb.setDisparityThresholdMin (15.0f);
|
|
* demb.setDisparityThresholdMax (80.0f);
|
|
* demb.setResolution (64, 32);
|
|
*
|
|
* // Left view of the scene.
|
|
* demb.loadImage (left_image);
|
|
* // Disparity map of the scene.
|
|
* demb.loadDisparityMap ("disparity_map.txt", 640, 480);
|
|
*
|
|
* demb.compute(*cloud);
|
|
* \endcode
|
|
*
|
|
* \author Timur Ibadov (ibadov.timur@gmail.com)
|
|
* \ingroup stereo
|
|
*/
|
|
class PCL_EXPORTS DigitalElevationMapBuilder : public DisparityMapConverter<PointDEM> {
|
|
public:
|
|
using DisparityMapConverter<PointDEM>::baseline_;
|
|
using DisparityMapConverter<PointDEM>::translateCoordinates;
|
|
using DisparityMapConverter<PointDEM>::image_;
|
|
using DisparityMapConverter<PointDEM>::disparity_map_;
|
|
using DisparityMapConverter<PointDEM>::disparity_map_width_;
|
|
using DisparityMapConverter<PointDEM>::disparity_map_height_;
|
|
using DisparityMapConverter<PointDEM>::disparity_threshold_min_;
|
|
using DisparityMapConverter<PointDEM>::disparity_threshold_max_;
|
|
|
|
/** \brief DigitalElevationMapBuilder constructor. */
|
|
DigitalElevationMapBuilder();
|
|
|
|
/** \brief Empty destructor. */
|
|
~DigitalElevationMapBuilder();
|
|
|
|
/** \brief Set resolution of the DEM.
|
|
* \param[in] resolution_column the column resolution.
|
|
* \param[in] resolution_disparity the disparity resolution.
|
|
*/
|
|
void
|
|
setResolution(std::size_t resolution_column, std::size_t resolution_disparity);
|
|
|
|
/** \brief Get column resolution of the DEM.
|
|
* \return column resolution of the DEM.
|
|
*/
|
|
std::size_t
|
|
getColumnResolution() const;
|
|
|
|
/** \brief Get disparity resolution of the DEM.
|
|
* \return disparity resolution of the DEM.
|
|
*/
|
|
std::size_t
|
|
getDisparityResolution() const;
|
|
|
|
/** \brief Set minimum amount of points in a DEM's cell.
|
|
* \param[in] min_points_in_cell minimum amount of points in a DEM's cell.
|
|
*/
|
|
void
|
|
setMinPointsInCell(std::size_t min_points_in_cell);
|
|
|
|
/** \brief Get minimum amount of points in a DEM's cell.
|
|
* \return minimum amount of points in a DEM's cell.
|
|
*/
|
|
std::size_t
|
|
getMinPointsInCell() const;
|
|
|
|
/** \brief Compute the Digital Elevation Map.
|
|
* \param[out] out_cloud the variable to return the resulting cloud.
|
|
*/
|
|
void
|
|
compute(pcl::PointCloud<PointDEM>& out_cloud) override;
|
|
|
|
protected:
|
|
/** \brief Column resolution of the DEM. */
|
|
std::size_t resolution_column_;
|
|
/** \brief disparity resolution of the DEM. */
|
|
std::size_t resolution_disparity_;
|
|
/** \brief Minimum amount of points in a DEM's cell. */
|
|
std::size_t min_points_in_cell_;
|
|
};
|
|
|
|
} // namespace pcl
|