259 lines
7.7 KiB
C++
259 lines
7.7 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2014-, Open Perception, Inc.
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*
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <cstring>
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#include <vector>
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namespace pcl {
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/** \brief Compute point cloud from the disparity map.
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*
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* Example of usage:
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*
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* \code
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* pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new
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* pcl::PointCloud<pcl::PointXYZI>);
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* pcl::PointCloud<pcl::RGB>::Ptr left_image (new
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* pcl::PointCloud<pcl::RGB>);
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* // Fill left image cloud.
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*
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* pcl::DisparityMapConverter<pcl::PointXYZI> dmc;
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* dmc.setBaseline (0.8387445f);
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* dmc.setFocalLength (368.534700f);
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* dmc.setImageCenterX (318.112200f);
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* dmc.setImageCenterY (224.334900f);
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* dmc.setDisparityThresholdMin(15.0f);
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*
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* // Left view of the scene.
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* dmc.setImage (left_image);
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* // Disparity map of the scene.
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* dmc.loadDisparityMap ("disparity_map.txt", 640, 480);
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*
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* dmc.compute(*cloud);
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* \endcode
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*
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* \author Timur Ibadov (ibadov.timur@gmail.com)
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* \ingroup stereo
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*/
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template <typename PointT>
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class DisparityMapConverter {
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protected:
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using PointCloud = pcl::PointCloud<PointT>;
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public:
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/** \brief DisparityMapConverter constructor. */
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DisparityMapConverter();
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/** \brief Empty destructor. */
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virtual ~DisparityMapConverter();
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/** \brief Set x-coordinate of the image center.
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* \param[in] center_x x-coordinate of the image center.
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*/
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inline void
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setImageCenterX(const float center_x);
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/** \brief Get x-coordinate of the image center.
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* \return x-coordinate of the image center.
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*/
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inline float
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getImageCenterX() const;
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/** \brief Set y-coordinate of the image center.
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* \param[in] center_y y-coordinate of the image center.
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*/
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inline void
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setImageCenterY(const float center_y);
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/** \brief Get y-coordinate of the image center.
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* \return y-coordinate of the image center.
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*/
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inline float
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getImageCenterY() const;
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/** \brief Set focal length.
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* \param[in] focal_length the focal length.
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*/
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inline void
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setFocalLength(const float focal_length);
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/** \brief Get focal length.
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* \return the focal length.
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*/
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inline float
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getFocalLength() const;
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/** \brief Set baseline.
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* \param[in] baseline baseline.
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*/
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inline void
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setBaseline(const float baseline);
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/** \brief Get baseline.
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* \return the baseline.
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*/
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inline float
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getBaseline() const;
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/** \brief Set min disparity threshold.
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* \param[in] disparity_threshold_min min disparity threshold.
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*/
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inline void
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setDisparityThresholdMin(const float disparity_threshold_min);
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/** \brief Get min disparity threshold.
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* \return min disparity threshold.
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*/
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inline float
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getDisparityThresholdMin() const;
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/** \brief Set max disparity threshold.
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* \param[in] disparity_threshold_max max disparity threshold.
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*/
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inline void
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setDisparityThresholdMax(const float disparity_threshold_max);
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/** \brief Get max disparity threshold.
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* \return max disparity threshold.
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*/
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inline float
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getDisparityThresholdMax() const;
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/** \brief Set an image, that will be used for coloring of the output cloud.
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* \param[in] image the image.
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*/
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void
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setImage(const pcl::PointCloud<pcl::RGB>::ConstPtr& image);
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/** \brief Get the image, that is used for coloring of the output cloud.
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* \return the image.
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*/
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pcl::PointCloud<RGB>::Ptr
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getImage();
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/** \brief Load the disparity map.
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* \param[in] file_name the name of the disparity map file.
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* \return "true" if the disparity map was successfully loaded; "false" otherwise
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*/
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bool
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loadDisparityMap(const std::string& file_name);
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/** \brief Load the disparity map and initialize it's size.
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* \param[in] file_name the name of the disparity map file.
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* \param[in] width width of the disparity map.
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* \param[in] height height of the disparity map.
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* \return "true" if the disparity map was successfully loaded; "false" otherwise
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*/
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bool
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loadDisparityMap(const std::string& file_name,
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const std::size_t width,
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const std::size_t height);
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/** \brief Set the disparity map.
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* \param[in] disparity_map the disparity map.
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*/
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void
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setDisparityMap(const std::vector<float>& disparity_map);
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/** \brief Set the disparity map and initialize it's size.
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* \param[in] disparity_map the disparity map.
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* \param[in] width width of the disparity map.
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* \param[in] height height of the disparity map.
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* \return "true" if the disparity map was successfully loaded; "false" otherwise
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*/
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void
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setDisparityMap(const std::vector<float>& disparity_map,
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const std::size_t width,
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const std::size_t height);
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/** \brief Get the disparity map.
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* \return the disparity map.
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*/
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std::vector<float>
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getDisparityMap();
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/** \brief Compute the output cloud.
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* \param[out] out_cloud the variable to return the resulting cloud.
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*/
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virtual void
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compute(PointCloud& out_cloud);
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protected:
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/** \brief Translate point from image coordinates and disparity to 3D-coordinates
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* \param[in] row
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* \param[in] column
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* \param[in] disparity
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* \return the 3D point, that corresponds to the input parametres and the camera
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* calibration.
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*/
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PointXYZ
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translateCoordinates(std::size_t row, std::size_t column, float disparity) const;
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/** \brief X-coordinate of the image center. */
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float center_x_;
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/** \brief Y-coordinate of the image center. */
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float center_y_;
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/** \brief Focal length. */
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float focal_length_;
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/** \brief Baseline. */
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float baseline_;
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/** \brief Is color image is set. */
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bool is_color_;
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/** \brief Color image of the scene. */
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pcl::PointCloud<pcl::RGB>::ConstPtr image_;
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/** \brief Vector for the disparity map. */
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std::vector<float> disparity_map_;
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/** \brief X-size of the disparity map. */
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std::size_t disparity_map_width_;
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/** \brief Y-size of the disparity map. */
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std::size_t disparity_map_height_;
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/** \brief Thresholds of the disparity. */
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float disparity_threshold_min_;
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float disparity_threshold_max_;
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};
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} // namespace pcl
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#include <pcl/stereo/impl/disparity_map_converter.hpp>
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