Point Cloud Library (PCL)
1.11.1-dev
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41 #include <pcl/point_cloud.h>
45 namespace pcl {
struct PCLPointCloud2; }
60 using Ptr = shared_ptr<RangeImage>;
88 getMaxAngleSize (
const Eigen::Affine3f& viewer_pose,
const Eigen::Vector3f& center,
95 static inline Eigen::Vector3f
104 Eigen::Affine3f& transformation);
111 template <
typename Po
intCloudTypeWithViewpo
ints>
static Eigen::Vector3f
144 template <
typename Po
intCloudType>
void
147 const Eigen::Affine3f& sensor_pose = Eigen::Affine3f::Identity (),
149 float min_range=0.0f,
int border_size=0);
168 template <
typename Po
intCloudType>
void
172 const Eigen::Affine3f& sensor_pose = Eigen::Affine3f::Identity (),
174 float noise_level=0.0f,
float min_range=0.0f,
int border_size=0);
191 template <
typename Po
intCloudType>
void
193 const Eigen::Vector3f& point_cloud_center,
float point_cloud_radius,
194 const Eigen::Affine3f& sensor_pose = Eigen::Affine3f::Identity (),
196 float noise_level=0.0f,
float min_range=0.0f,
int border_size=0);
216 template <
typename Po
intCloudType>
void
218 float angular_resolution_x,
float angular_resolution_y,
219 const Eigen::Vector3f& point_cloud_center,
float point_cloud_radius,
220 const Eigen::Affine3f& sensor_pose = Eigen::Affine3f::Identity (),
222 float noise_level=0.0f,
float min_range=0.0f,
int border_size=0);
239 template <
typename Po
intCloudTypeWithViewpo
ints>
void
241 float max_angle_width,
float max_angle_height,
243 float min_range=0.0f,
int border_size=0);
263 template <
typename Po
intCloudTypeWithViewpo
ints>
void
265 float angular_resolution_x,
float angular_resolution_y,
266 float max_angle_width,
float max_angle_height,
268 float min_range=0.0f,
int border_size=0);
278 createEmpty (
float angular_resolution,
const Eigen::Affine3f& sensor_pose=Eigen::Affine3f::Identity (),
293 createEmpty (
float angular_resolution_x,
float angular_resolution_y,
294 const Eigen::Affine3f& sensor_pose=Eigen::Affine3f::Identity (),
309 template <
typename Po
intCloudType>
void
310 doZBuffer (
const PointCloudType& point_cloud,
float noise_level,
311 float min_range,
int& top,
int& right,
int& bottom,
int& left);
314 template <
typename Po
intCloudType>
void
325 cropImage (
int border_size=0,
int top=-1,
int right=-1,
int bottom=-1,
int left=-1);
336 inline const Eigen::Affine3f&
346 inline const Eigen::Affine3f&
386 getPoint (
int image_x,
int image_y)
const;
390 getPoint (
int image_x,
int image_y);
394 getPoint (
float image_x,
float image_y)
const;
398 getPoint (
float image_x,
float image_y);
415 getPoint (
int image_x,
int image_y, Eigen::Vector3f& point)
const;
419 getPoint (
int index, Eigen::Vector3f& point)
const;
422 inline const Eigen::Map<const Eigen::Vector3f>
426 inline const Eigen::Map<const Eigen::Vector3f>
442 calculate3DPoint (
float image_x,
float image_y,
float range, Eigen::Vector3f& point)
const;
445 calculate3DPoint (
float image_x,
float image_y, Eigen::Vector3f& point)
const;
453 getImagePoint (
const Eigen::Vector3f& point,
float& image_x,
float& image_y,
float& range)
const;
457 getImagePoint (
const Eigen::Vector3f& point,
int& image_x,
int& image_y,
float& range)
const;
461 getImagePoint (
const Eigen::Vector3f& point,
float& image_x,
float& image_y)
const;
465 getImagePoint (
const Eigen::Vector3f& point,
int& image_x,
int& image_y)
const;
469 getImagePoint (
float x,
float y,
float z,
float& image_x,
float& image_y,
float& range)
const;
473 getImagePoint (
float x,
float y,
float z,
float& image_x,
float& image_y)
const;
477 getImagePoint (
float x,
float y,
float z,
int& image_x,
int& image_y)
const;
500 real2DToInt2D (
float x,
float y,
int& xInt,
int& yInt)
const;
526 getNormal (
int x,
int y,
int radius, Eigen::Vector3f& normal,
int step_size=1)
const;
531 int no_of_nearest_neighbors, Eigen::Vector3f& normal,
int step_size=1)
const;
536 int no_of_nearest_neighbors, Eigen::Vector3f& normal,
537 Eigen::Vector3f* point_on_plane=
nullptr,
int step_size=1)
const;
547 int no_of_closest_neighbors,
int step_size,
548 float& max_closest_neighbor_distance_squared,
549 Eigen::Vector3f& normal, Eigen::Vector3f& mean, Eigen::Vector3f& eigen_values,
550 Eigen::Vector3f* normal_all_neighbors=
nullptr,
551 Eigen::Vector3f* mean_all_neighbors=
nullptr,
552 Eigen::Vector3f* eigen_values_all_neighbors=
nullptr)
const;
591 float*& acuteness_value_image_y)
const;
610 getSurfaceAngleChange (
int x,
int y,
int radius,
float& angle_change_x,
float& angle_change_y)
const;
618 getCurvature (
int x,
int y,
int radius,
int step_size)
const;
621 inline const Eigen::Vector3f
655 getSubImage (
int sub_image_image_offset_x,
int sub_image_image_offset_y,
int sub_image_width,
656 int sub_image_height,
int combine_pixels,
RangeImage& sub_image)
const;
682 inline Eigen::Affine3f
687 Eigen::Affine3f& transformation)
const;
695 float max_dist, Eigen::Affine3f& transformation)
const;
700 getIntegralImage (
float*& integral_image,
int*& valid_points_num_image)
const;
735 getOverlap (
const RangeImage& other_range_image,
const Eigen::Affine3f& relative_transformation,
736 int search_radius,
float max_distance,
int pixel_step=1)
const;
744 getViewingDirection (
const Eigen::Vector3f& point, Eigen::Vector3f& viewing_direction)
const;
816 os <<
"header: " << std::endl;
818 os <<
"points[]: " << r.
size () << std::endl;
819 os <<
"width: " << r.
width << std::endl;
820 os <<
"height: " << r.
height << std::endl;
821 os <<
"sensor_origin_: "
825 os <<
"sensor_orientation_: "
830 os <<
"is_dense: " << r.
is_dense << std::endl;
831 os <<
"angular resolution: "
840 #include <pcl/range_image/impl/range_image.hpp>
PCL_EXPORTS void setUnseenToMaxRange()
Sets all -INFINITY values to INFINITY.
int getImageOffsetX() const
Getter for image_offset_x_.
Defines all the PCL and non-PCL macros used.
float getImpactAngle(const PointWithRange &point1, const PointWithRange &point2) const
Calculate the impact angle based on the sensor position and the two given points - will return -INFIN...
static float getMaxAngleSize(const Eigen::Affine3f &viewer_pose, const Eigen::Vector3f ¢er, float radius)
Get the size of a certain area when seen from the given pose.
Eigen::Affine3f getTransformationToViewerCoordinateFrame(const Eigen::Vector3f &point) const
Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.
int image_offset_y_
Position of the top left corner of the range image compared to an image of full size (360x180 degrees...
virtual 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
Get a sub part of the complete image as a new range image.
PCL_EXPORTS bool getNormalBasedUprightTransformation(const Eigen::Vector3f &point, float max_dist, Eigen::Affine3f &transformation) const
Get a local coordinate frame at the given point based on the normal.
bool isObserved(int x, int y) const
Check if a point is inside of the image and has either a finite range or a max reading (range=INFINIT...
std::uint32_t height
The point cloud height (if organized as an image-structure).
static const int lookup_table_size
static float asinLookUp(float value)
Query the asin lookup table.
float angular_resolution_y_reciprocal_
1.0/angular_resolution_y_ - provided for better performance of multiplication compared to division
float getAngularResolutionY() const
Getter for the angular resolution of the range image in y direction in radians per pixel.
static Eigen::Vector3f getAverageViewPoint(const PointCloudTypeWithViewpoints &point_cloud)
Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x,...
PCL_EXPORTS void getAcutenessValueImages(int pixel_distance, float *´ness_value_image_x, float *´ness_value_image_y) const
Calculate getAcutenessValue for every point.
bool isInImage(int x, int y) const
Check if a point is inside of the image.
std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > > VectorOfEigenVector3f
Eigen::Affine3f to_world_system_
Inverse of to_range_image_system_.
void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &point) const
Calculate the 3D point according to the given image point and range.
void getRotationToViewerCoordinateFrame(const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
Same as above, but only returning the rotation.
void createFromPointCloudWithViewpoints(const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution, float max_angle_width, float max_angle_height, CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,...
static Eigen::Vector3f getEigenVector3f(const PointWithRange &point)
Get Eigen::Vector3f from PointWithRange.
float angular_resolution_y_
Angular resolution of the range image in y direction in radians per pixel.
virtual PCL_EXPORTS RangeImage * getNew() const
Return a newly created Range image.
float getImpactAngleBasedOnLocalNormal(int x, int y, int radius) const
Extract a local normal (with a heuristic not to include background points) and calculate the impact a...
virtual void getHalfImage(RangeImage &half_image) const
Get a range image with half the resolution.
PCL_EXPORTS void reset()
Reset all values to an empty range image.
PointCloud represents the base class in PCL for storing collections of 3D points.
bool isMaxRange(int x, int y) const
Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!
void setAngularResolution(float angular_resolution)
Set the angular resolution of the range image.
void getAnglesFromImagePoint(float image_x, float image_y, float &angle_x, float &angle_y) const
Get the angles corresponding to the given image point.
float angular_resolution_x_
Angular resolution of the range image in x direction in radians per pixel.
Eigen::Affine3f to_range_image_system_
Inverse of to_world_system_.
float getEuclideanDistanceSquared(int x1, int y1, int x2, int y2) const
Get the squared euclidean distance between the two image points.
void createFromPointCloudWithKnownSize(const PointCloudType &point_cloud, float angular_resolution, const Eigen::Vector3f &point_cloud_center, float point_cloud_radius, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
Create the depth image from a point cloud, getting a hint about the size of the scene for faster calc...
static void createLookupTables()
Create lookup tables for trigonometric functions.
float checkPoint(const Eigen::Vector3f &point, PointWithRange &point_in_image) const
point_in_image will be the point in the image at the position the given point would be.
PCL_EXPORTS void getIntegralImage(float *&integral_image, int *&valid_points_num_image) const
Get the integral image of the range values (used for fast blur operations).
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
static std::vector< float > atan_lookup_table
float getCurvature(int x, int y, int radius, int step_size) const
Calculates the curvature in a point using pca.
float getAngularResolutionX() const
Getter for the angular resolution of the range image in x direction in radians per pixel.
PCL_EXPORTS float getOverlap(const RangeImage &other_range_image, const Eigen::Affine3f &relative_transformation, int search_radius, float max_distance, int pixel_step=1) const
Calculates the overlap of two range images given the relative transformation (from the given image to...
std::ostream & operator<<(std::ostream &os, const BivariatePolynomialT< real > &p)
void createFromPointCloud(const PointCloudType &point_cloud, float angular_resolution=pcl::deg2rad(0.5f), float max_angle_width=pcl::deg2rad(360.0f), float max_angle_height=pcl::deg2rad(180.0f), const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), CoordinateFrame coordinate_frame=CAMERA_FRAME, float noise_level=0.0f, float min_range=0.0f, int border_size=0)
Create the depth image from a point cloud.
std::uint32_t width
The point cloud width (if organized as an image-structure).
shared_ptr< RangeImage > Ptr
static std::vector< float > cos_lookup_table
static PCL_EXPORTS void extractFarRanges(const pcl::PCLPointCloud2 &point_cloud_data, PointCloud< PointWithViewpoint > &far_ranges)
Check if the provided data includes far ranges and add them to far_ranges.
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.
virtual PCL_EXPORTS void copyTo(RangeImage &other) const
Copy other to *this.
const Eigen::Vector3f getSensorPos() const
Get the sensor position.
PCL_EXPORTS void getRangeImageWithSmoothedSurface(int radius, RangeImage &smoothed_range_image) const
Project all points on the local plane approximation, thereby smoothing the surface of the scan.
virtual PCL_EXPORTS ~RangeImage()=default
Destructor.
static float cosLookUp(float value)
Query the cos lookup table.
virtual PCL_EXPORTS void getBlurredImage(int blur_radius, RangeImage &range_image) const
Get a blurred version of the range image using box filters.
PCL_EXPORTS void recalculate3DPointPositions()
Recalculate all 3D point positions according to their pixel position and range.
float getAngularResolution() const
Getter for the angular resolution of the range image in x direction in radians per pixel.
PCL_EXPORTS float * getInterpolatedSurfaceProjection(const Eigen::Affine3f &pose, int pixel_size, float world_size) const
Calculate a range patch as the z values of the coordinate frame given by pose.
PCL_EXPORTS float * getRangesArray() const
Get all the range values in one float array of size width*height.
float deg2rad(float alpha)
Convert an angle from degrees to radians.
static int max_no_of_threads
The maximum number of openmp threads that can be used in this class.
const Eigen::Affine3f & getTransformationToRangeImageSystem() const
Getter for the transformation from the world system into the range image system (the sensor coordinat...
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Eigen::Vector4f sensor_origin_
Sensor acquisition pose (origin/translation).
static bool debug
Just for...
float getAverageEuclideanDistance(int x, int y, int offset_x, int offset_y, int max_steps) const
Doing the above for some steps in the given direction and averaging.
Eigen::Quaternionf sensor_orientation_
Sensor acquisition pose (rotation).
PCL_EXPORTS float getSurfaceChange(int x, int y, int radius) const
Calculates, how much the surface changes at a point.
bool is_dense
True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields).
void setImageOffsets(int offset_x, int offset_y)
Setter for image offsets.
pcl::PCLHeader header
The point cloud header.
float getAcutenessValue(const PointWithRange &point1, const PointWithRange &point2) const
Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) will r...
void getImagePointFromAngles(float angle_x, float angle_y, float &image_x, float &image_y) const
Get the image point corresponding to the given angles.
PCL_EXPORTS RangeImage()
Constructor.
void getSurfaceAngleChange(int x, int y, int radius, float &angle_change_x, float &angle_change_y) const
Calculates, how much the surface changes at a point.
void real2DToInt2D(float x, float y, int &xInt, int &yInt) const
Transforms an image point in float values to an image point in int values.
bool getViewingDirection(int x, int y, Eigen::Vector3f &viewing_direction) const
Get the viewing direction for the given point.
void integrateFarRanges(const PointCloudType &far_ranges)
Integrates the given far range measurements into the range image.
PCL_EXPORTS void getSurfaceAngleChangeImages(int radius, float *&angle_change_image_x, float *&angle_change_image_y) const
Uses the above function for every point in the image.
PCL_EXPORTS float * getImpactAngleImageBasedOnLocalNormals(int radius) const
Uses the above function for every point in the image.
float getNormalBasedAcutenessValue(int x, int y, int radius) const
Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This u...
bool isValid(int x, int y) const
Check if a point is inside of the image and has a finite range.
PointWithRange unobserved_point
This point is used to be able to return a reference to a non-existing point.
A point structure representing Euclidean xyz coordinates, padded with an extra range float.
PCL_EXPORTS void getBlurredImageUsingIntegralImage(int blur_radius, float *integral_image, int *valid_points_num_image, RangeImage &range_image) const
Get a blurred version of the range image using box filters on the provided integral image.
PCL_EXPORTS void getMinMaxRanges(float &min_range, float &max_range) const
Find the minimum and maximum range in the image.
static float atan2LookUp(float y, float x)
Query the std::atan2 lookup table.
Ptr makeShared()
Get a boost shared pointer of a copy of this.
static std::vector< float > asin_lookup_table
shared_ptr< const RangeImage > ConstPtr
virtual void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
Get imagePoint from 3D point in world coordinates.
float getRangeDifference(const Eigen::Vector3f &point) const
Returns the difference in range between the given point and the range of the point in the image at th...
const Eigen::Affine3f & getTransformationToWorldSystem() const
Getter for the transformation from the range image system (the sensor coordinate frame) into the worl...
bool getNormal(int x, int y, int radius, Eigen::Vector3f &normal, int step_size=1) const
Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius.
PCL_EXPORTS void change3dPointsToLocalCoordinateFrame()
This function sets the sensor pose to 0 and transforms all point positions to this local coordinate f...
float angular_resolution_x_reciprocal_
1.0/angular_resolution_x_ - provided for better performance of multiplication compared to division
const PointWithRange & getPoint(int image_x, int image_y) const
Return the 3D point with range at the given image position.
PCL_EXPORTS float * getSurfaceChangeImage(int radius) const
Uses the above function for every point in the image.
int getImageOffsetY() const
Getter for image_offset_y_.
bool getSurfaceInformation(int x, int y, int radius, const Eigen::Vector3f &point, int no_of_closest_neighbors, int step_size, float &max_closest_neighbor_distance_squared, Eigen::Vector3f &normal, Eigen::Vector3f &mean, Eigen::Vector3f &eigen_values, Eigen::Vector3f *normal_all_neighbors=nullptr, Eigen::Vector3f *mean_all_neighbors=nullptr, Eigen::Vector3f *eigen_values_all_neighbors=nullptr) const
Same as above but extracts some more data and can also return the extracted information for all neigh...
bool getNormalForClosestNeighbors(int x, int y, int radius, const PointWithRange &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, int step_size=1) const
Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered.
Defines functions, macros and traits for allocating and using memory.
void createEmpty(float angular_resolution, const Eigen::Affine3f &sensor_pose=Eigen::Affine3f::Identity(), RangeImage::CoordinateFrame coordinate_frame=CAMERA_FRAME, float angle_width=pcl::deg2rad(360.0f), float angle_height=pcl::deg2rad(180.0f))
Create an empty depth image (filled with unobserved points)
const PointWithRange & getPointNoCheck(int image_x, int image_y) const
Return the 3D point with range at the given image position.
void setTransformationToRangeImageSystem(const Eigen::Affine3f &to_range_image_system)
Setter for the transformation from the range image system (the sensor coordinate frame) into the worl...
float getSquaredDistanceOfNthNeighbor(int x, int y, int radius, int n, int step_size) const
static PCL_EXPORTS void getCoordinateFrameTransformation(RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.
PCL_EXPORTS void cropImage(int border_size=0, int top=-1, int right=-1, int bottom=-1, int left=-1)
Cut the range image to the minimal size so that it still contains all actual range readings.
void get1dPointAverage(int x, int y, int delta_x, int delta_y, int no_of_points, PointWithRange &average_point) const
Calculates the average 3D position of the no_of_points points described by the start point x,...