Point Cloud Library (PCL)
1.11.1-dev
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40 #include <pcl/range_image/range_image.h>
56 using Ptr = shared_ptr<RangeImagePlanar>;
57 using ConstPtr = shared_ptr<const RangeImagePlanar>;
91 float focal_length,
float base_line,
float desired_angular_resolution=-1);
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);
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);
138 template <
typename Po
intCloudType>
void
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,
144 float min_range=0.0f);
158 calculate3DPoint (
float image_x,
float image_y,
float range, Eigen::Vector3f& point)
const override;
168 getImagePoint (
const Eigen::Vector3f& point,
float& image_x,
float& image_y,
float& range)
const override;
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;
216 #include <pcl/range_image/impl/range_image_planar.hpp>
shared_ptr< RangeImagePlanar > Ptr
RangeImage * getNew() const override
Return a newly created RangeImagePlanar.
void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const override
Calculate the image point and range from the given 3D point.
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)
Create the image from an existing point cloud.
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.
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.
PCL_EXPORTS RangeImagePlanar()
Constructor.
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 disparity 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 sub part of the complete image as a new range image.
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Ptr makeShared()
Get a boost shared pointer of a copy of this.
shared_ptr< RangeImage > Ptr
float getCenterY() const
Getter for the principal point in Y.
void calculate3DPoint(float image_x, float image_y, float range, Eigen::Vector3f &point) const override
Calculate the 3D point according to the given image point and range.
float focal_length_y_
The focal length of the image in pixels.
float focal_length_y_reciprocal_
1/focal_length -> for internal use
PCL_EXPORTS void copyTo(RangeImage &other) const override
Copy *this to other.
PCL_EXPORTS RangeImage()
Constructor.
PCL_EXPORTS void getHalfImage(RangeImage &half_image) const override
Get a range image with half the resolution.
float getFocalLengthY() const
Getter for the focal length in Y.
PCL_EXPORTS ~RangeImagePlanar()
Destructor.
float getCenterX() const
Getter for the principal point in X.
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 getFocalLengthX() const
Getter for the focal length in X.
float center_y_
The principle point of the image.
float focal_length_x_reciprocal_
RangeImagePlanar is derived from the original range image and differs from it because it's not a sphe...