1 /* 2 * Software License Agreement (BSD License) 3 * 4 * Point Cloud Library (PCL) - www.pointclouds.org 5 * Copyright (c) 2010, Willow Garage, Inc. 6 * Copyright (c) 2012-, Open Perception, Inc. 7 * 8 * All rights reserved. 9 * 10 * Redistribution and use in source and binary forms, with or without 11 * modification, are permitted provided that the following conditions 12 * are met: 13 * 14 * * Redistributions of source code must retain the above copyright 15 * notice, this list of conditions and the following disclaimer. 16 * * Redistributions in binary form must reproduce the above 17 * copyright notice, this list of conditions and the following 18 * disclaimer in the documentation and/or other materials provided 19 * with the distribution. 20 * * Neither the name of the copyright holder(s) nor the names of its 21 * contributors may be used to endorse or promote products derived 22 * from this software without specific prior written permission. 23 * 24 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 25 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 26 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 27 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 28 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 29 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 30 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 31 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 33 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 34 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 * POSSIBILITY OF SUCH DAMAGE. 36 */ 37 38 #pragma once 39 40 #include <pcl/range_image/range_image.h> 41 42 namespace pcl 43 { 44 /** \brief @b RangeImagePlanar is derived from the original range image and differs from it because it's not a 45 * spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable 46 * for range sensors that already provide a range image by themselves (stereo cameras, ToF-cameras), so that 47 * a conversion to point cloud and then to a spherical range image becomes unnecessary. 48 * \author Bastian Steder 49 * \ingroup range_image 50 */ 51 class RangeImagePlanar : public RangeImage 52 { 53 public: 54 // =====TYPEDEFS===== 55 using BaseClass = RangeImage; 56 using Ptr = shared_ptr<RangeImagePlanar>; 57 using ConstPtr = shared_ptr<const RangeImagePlanar>; 58 59 // =====CONSTRUCTOR & DESTRUCTOR===== 60 /** Constructor */ 61 PCL_EXPORTS RangeImagePlanar (); 62 /** Destructor */ 63 PCL_EXPORTS ~RangeImagePlanar (); 64 65 /** Return a newly created RangeImagePlanar. 66 * Reimplementation to return an image of the same type. */ 67 RangeImage* getNew()68 getNew () const override { return new RangeImagePlanar; } 69 70 /** Copy *this to other. Derived version - also copying additional RangeImagePlanar members */ 71 PCL_EXPORTS void 72 copyTo (RangeImage& other) const override; 73 74 // =====PUBLIC METHODS===== 75 /** \brief Get a boost shared pointer of a copy of this */ 76 inline Ptr makeShared()77 makeShared () { return Ptr (new RangeImagePlanar (*this)); } 78 79 /** \brief Create the image from an existing disparity image. 80 * \param disparity_image the input disparity image data 81 * \param di_width the disparity image width 82 * \param di_height the disparity image height 83 * \param focal_length the focal length of the primary camera that generated the disparity image 84 * \param base_line the baseline of the stereo pair that generated the disparity image 85 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as 86 * close to this angular resolution as possible while not going over this value (the density will not be 87 * lower than this value). The value is in radians per pixel. 88 */ 89 PCL_EXPORTS void 90 setDisparityImage (const float* disparity_image, int di_width, int di_height, 91 float focal_length, float base_line, float desired_angular_resolution=-1); 92 93 /** Create the image from an existing depth image. 94 * \param depth_image the input depth image data as float values 95 * \param di_width the disparity image width 96 * \param di_height the disparity image height 97 * \param di_center_x the x-coordinate of the camera's center of projection 98 * \param di_center_y the y-coordinate of the camera's center of projection 99 * \param di_focal_length_x the camera's focal length in the horizontal direction 100 * \param di_focal_length_y the camera's focal length in the vertical direction 101 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as 102 * close to this angular resolution as possible while not going over this value (the density will not be 103 * lower than this value). The value is in radians per pixel. 104 */ 105 PCL_EXPORTS void 106 setDepthImage (const float* depth_image, int di_width, int di_height, float di_center_x, float di_center_y, 107 float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1); 108 109 /** Create the image from an existing depth image. 110 * \param depth_image the input disparity image data as short values describing millimeters 111 * \param di_width the disparity image width 112 * \param di_height the disparity image height 113 * \param di_center_x the x-coordinate of the camera's center of projection 114 * \param di_center_y the y-coordinate of the camera's center of projection 115 * \param di_focal_length_x the camera's focal length in the horizontal direction 116 * \param di_focal_length_y the camera's focal length in the vertical direction 117 * \param desired_angular_resolution If this is set, the system will skip as many pixels as necessary to get as 118 * close to this angular resolution as possible while not going over this value (the density will not be 119 * lower than this value). The value is in radians per pixel. 120 */ 121 PCL_EXPORTS void 122 setDepthImage (const unsigned short* depth_image, int di_width, int di_height, float di_center_x, float di_center_y, 123 float di_focal_length_x, float di_focal_length_y, float desired_angular_resolution=-1); 124 125 /** Create the image from an existing point cloud. 126 * \param point_cloud the source point cloud 127 * \param di_width the disparity image width 128 * \param di_height the disparity image height 129 * \param di_center_x the x-coordinate of the camera's center of projection 130 * \param di_center_y the y-coordinate of the camera's center of projection 131 * \param di_focal_length_x the camera's focal length in the horizontal direction 132 * \param di_focal_length_y the camera's focal length in the vertical direction 133 * \param sensor_pose the pose of the virtual depth camera 134 * \param coordinate_frame the used coordinate frame of the point cloud 135 * \param noise_level what is the typical noise of the sensor - is used for averaging in the z-buffer 136 * \param min_range minimum range to consifder points 137 */ 138 template <typename PointCloudType> void 139 createFromPointCloudWithFixedSize (const PointCloudType& point_cloud, 140 int di_width, int di_height, float di_center_x, float di_center_y, 141 float di_focal_length_x, float di_focal_length_y, 142 const Eigen::Affine3f& sensor_pose, 143 CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, 144 float min_range=0.0f); 145 146 // Since we reimplement some of these overloaded functions, we have to do the following: 147 using RangeImage::calculate3DPoint; 148 using RangeImage::getImagePoint; 149 150 /** \brief Calculate the 3D point according to the given image point and range 151 * \param image_x the x image position 152 * \param image_y the y image position 153 * \param range the range 154 * \param point the resulting 3D point 155 * \note Implementation according to planar range images (compared to spherical as in the original) 156 */ 157 inline void 158 calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const override; 159 160 /** \brief Calculate the image point and range from the given 3D point 161 * \param point the resulting 3D point 162 * \param image_x the resulting x image position 163 * \param image_y the resulting y image position 164 * \param range the resulting range 165 * \note Implementation according to planar range images (compared to spherical as in the original) 166 */ 167 inline void 168 getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const override; 169 170 /** Get a sub part of the complete image as a new range image. 171 * \param sub_image_image_offset_x - The x coordinate of the top left pixel of the sub image. 172 * This is always according to absolute 0,0 meaning -180°,-90° 173 * and it is already in the system of the new image, so the 174 * actual pixel used in the original image is 175 * combine_pixels* (image_offset_x-image_offset_x_) 176 * \param sub_image_image_offset_y - Same as image_offset_x for the y coordinate 177 * \param sub_image_width - width of the new image 178 * \param sub_image_height - height of the new image 179 * \param combine_pixels - shrinking factor, meaning the new angular resolution 180 * is combine_pixels times the old one 181 * \param sub_image - the output image 182 */ 183 PCL_EXPORTS void 184 getSubImage (int sub_image_image_offset_x, int sub_image_image_offset_y, int sub_image_width, 185 int sub_image_height, int combine_pixels, RangeImage& sub_image) const override; 186 187 //! Get a range image with half the resolution 188 PCL_EXPORTS void 189 getHalfImage (RangeImage& half_image) const override; 190 191 //! Getter for the focal length in X 192 inline float getFocalLengthX()193 getFocalLengthX () const { return focal_length_x_; } 194 195 //! Getter for the focal length in Y 196 inline float getFocalLengthY()197 getFocalLengthY () const { return focal_length_y_; } 198 199 //! Getter for the principal point in X 200 inline float getCenterX()201 getCenterX () const { return center_x_; } 202 203 //! Getter for the principal point in Y 204 inline float getCenterY()205 getCenterY () const { return center_y_; } 206 207 208 protected: 209 float focal_length_x_, focal_length_y_; //!< The focal length of the image in pixels 210 float focal_length_x_reciprocal_, focal_length_y_reciprocal_; //!< 1/focal_length -> for internal use 211 float center_x_, center_y_; //!< The principle point of the image 212 }; 213 } // namespace end 214 215 216 #include <pcl/range_image/impl/range_image_planar.hpp> // Definitions of templated and inline functions 217