PointCloudLibrary

RangeImagePlanar is derived from the original range image and differs from it because it's not a spherical projection, but using a projection plane (as normal cameras do), therefore being better applicable for range sensors that already provide a range image by themselves (stereo cameras, ToF-cameras), so that a conversion to point cloud and then to a spherical range image becomes unnecessary. More...

#include <pcl/range_image/range_image_planar.h>

Public Types
using	BaseClass = RangeImage

using	Ptr = shared_ptr< RangeImagePlanar >

using	ConstPtr = shared_ptr< const RangeImagePlanar >

Public Types inherited from pcl::RangeImage
enum	CoordinateFrame { CAMERA_FRAME = 0, LASER_FRAME = 1 }

using	BaseClass = pcl::PointCloud< PointWithRange >

using	VectorOfEigenVector3f = std::vector< Eigen::Vector3f, Eigen::aligned_allocator< Eigen::Vector3f > >

using	Ptr = shared_ptr< RangeImage >

using	ConstPtr = shared_ptr< const RangeImage >

Public Types inherited from pcl::PointCloud< PointWithRange >
using	PointType = PointWithRange

using	VectorType = std::vector< PointWithRange, Eigen::aligned_allocator< PointWithRange > >

using	CloudVectorType = std::vector< PointCloud< PointWithRange >, Eigen::aligned_allocator< PointCloud< PointWithRange > > >

using	Ptr = shared_ptr< PointCloud< PointWithRange > >

using	ConstPtr = shared_ptr< const PointCloud< PointWithRange > >

using	value_type = PointWithRange

using	reference = PointWithRange &

using	const_reference = const PointWithRange &

using	difference_type = typename VectorType::difference_type

using	size_type = typename VectorType::size_type

using	iterator = typename VectorType::iterator

using	const_iterator = typename VectorType::const_iterator

using	reverse_iterator = typename VectorType::reverse_iterator

using	const_reverse_iterator = typename VectorType::const_reverse_iterator

Public Member Functions
PCL_EXPORTS	RangeImagePlanar ()
	Constructor. More...

PCL_EXPORTS	~RangeImagePlanar ()
	Destructor. More...

RangeImage *	getNew () const override
	Return a newly created RangeImagePlanar. More...

PCL_EXPORTS void	copyTo (RangeImage &other) const override
	Copy *this to other. More...

Ptr	makeShared ()
	Get a boost shared pointer of a copy of this. More...

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. More...

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. More...

PCL_EXPORTS void	setDepthImage (const unsigned short *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. More...

template<typename PointCloudType >
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. More...

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. More...

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. More...

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. More...

PCL_EXPORTS void	getHalfImage (RangeImage &half_image) const override
	Get a range image with half the resolution. More...

float	getFocalLengthX () const
	Getter for the focal length in X. More...

float	getFocalLengthY () const
	Getter for the focal length in Y. More...

float	getCenterX () const
	Getter for the principal point in X. More...

float	getCenterY () const
	Getter for the principal point in Y. More...

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. More...

void	calculate3DPoint (float image_x, float image_y, PointWithRange &point) const
	Calculate the 3D point according to the given image point and the range value at the closest pixel. More...

virtual void	calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f &point) const
	Calculate the 3D point according to the given image point and range. More...

void	calculate3DPoint (float image_x, float image_y, Eigen::Vector3f &point) const
	Calculate the 3D point according to the given image point and the range value at the closest pixel. More...

virtual void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
	Get imagePoint from 3D point in world coordinates. More...

void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y, float &range) const
	Same as above. More...

void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y) const
	Same as above. More...

void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, float &image_x, float &image_y, float &range) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, float &image_x, float &image_y) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, int &image_x, int &image_y) const
	Same as above. More...

Public Member Functions inherited from pcl::RangeImage
PCL_EXPORTS	RangeImage ()
	Constructor. More...

virtual PCL_EXPORTS	~RangeImage ()=default
	Destructor. More...

Ptr	makeShared ()
	Get a boost shared pointer of a copy of this. More...

PCL_EXPORTS void	reset ()
	Reset all values to an empty range image. More...

template<typename PointCloudType >
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. More...

template<typename PointCloudType >
void	createFromPointCloud (const PointCloudType &point_cloud, float angular_resolution_x=pcl::deg2rad(0.5f), float angular_resolution_y=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. More...

template<typename PointCloudType >
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 calculation. More...

template<typename PointCloudType >
void	createFromPointCloudWithKnownSize (const PointCloudType &point_cloud, float angular_resolution_x, float angular_resolution_y, 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 calculation. More...

template<typename PointCloudTypeWithViewpoints >
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,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)). More...

template<typename PointCloudTypeWithViewpoints >
void	createFromPointCloudWithViewpoints (const PointCloudTypeWithViewpoints &point_cloud, float angular_resolution_x, float angular_resolution_y, 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,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)). More...

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) More...

void	createEmpty (float angular_resolution_x, float angular_resolution_y, 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) More...

template<typename PointCloudType >
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. More...

template<typename PointCloudType >
void	integrateFarRanges (const PointCloudType &far_ranges)
	Integrates the given far range measurements into the range image. More...

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. More...

PCL_EXPORTS float *	getRangesArray () const
	Get all the range values in one float array of size width*height. More...

const Eigen::Affine3f &	getTransformationToRangeImageSystem () const
	Getter for the transformation from the world system into the range image system (the sensor coordinate frame) More...

void	setTransformationToRangeImageSystem (const Eigen::Affine3f &to_range_image_system)
	Setter for the transformation from the range image system (the sensor coordinate frame) into the world system. More...

const Eigen::Affine3f &	getTransformationToWorldSystem () const
	Getter for the transformation from the range image system (the sensor coordinate frame) into the world system. More...

float	getAngularResolution () const
	Getter for the angular resolution of the range image in x direction in radians per pixel. More...

float	getAngularResolutionX () const
	Getter for the angular resolution of the range image in x direction in radians per pixel. More...

float	getAngularResolutionY () const
	Getter for the angular resolution of the range image in y direction in radians per pixel. More...

void	getAngularResolution (float &angular_resolution_x, float &angular_resolution_y) const
	Getter for the angular resolution of the range image in x and y direction (in radians). More...

void	setAngularResolution (float angular_resolution)
	Set the angular resolution of the range image. More...

void	setAngularResolution (float angular_resolution_x, float angular_resolution_y)
	Set the angular resolution of the range image. More...

const PointWithRange &	getPoint (int image_x, int image_y) const
	Return the 3D point with range at the given image position. More...

PointWithRange &	getPoint (int image_x, int image_y)
	Non-const-version of getPoint. More...

const PointWithRange &	getPoint (float image_x, float image_y) const
	Return the 3d point with range at the given image position. More...

PointWithRange &	getPoint (float image_x, float image_y)
	Non-const-version of the above. More...

const PointWithRange &	getPointNoCheck (int image_x, int image_y) const
	Return the 3D point with range at the given image position. More...

PointWithRange &	getPointNoCheck (int image_x, int image_y)
	Non-const-version of getPointNoCheck. More...

void	getPoint (int image_x, int image_y, Eigen::Vector3f &point) const
	Same as above. More...

void	getPoint (int index, Eigen::Vector3f &point) const
	Same as above. More...

const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int x, int y) const
	Same as above. More...

const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int index) const
	Same as above. More...

const PointWithRange &	getPoint (int index) const
	Return the 3d point with range at the given index (whereas index=y*width+x) More...

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. More...

void	calculate3DPoint (float image_x, float image_y, PointWithRange &point) const
	Calculate the 3D point according to the given image point and the range value at the closest pixel. More...

void	calculate3DPoint (float image_x, float image_y, Eigen::Vector3f &point) const
	Calculate the 3D point according to the given image point and the range value at the closest pixel. More...

PCL_EXPORTS void	recalculate3DPointPositions ()
	Recalculate all 3D point positions according to their pixel position and range. More...

void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y, float &range) const
	Same as above. More...

void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y) const
	Same as above. More...

void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, float &image_x, float &image_y, float &range) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, float &image_x, float &image_y) const
	Same as above. More...

void	getImagePoint (float x, float y, float z, int &image_x, int &image_y) const
	Same as above. More...

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. More...

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 the position the given point would be. More...

void	getImagePointFromAngles (float angle_x, float angle_y, float &image_x, float &image_y) const
	Get the image point corresponding to the given angles. More...

void	getAnglesFromImagePoint (float image_x, float image_y, float &angle_x, float &angle_y) const
	Get the angles corresponding to the given image point. More...

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. More...

bool	isInImage (int x, int y) const
	Check if a point is inside of the image. More...

bool	isValid (int x, int y) const
	Check if a point is inside of the image and has a finite range. More...

bool	isValid (int index) const
	Check if a point has a finite range. More...

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=INFINITY) More...

bool	isMaxRange (int x, int y) const
	Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first! More...

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. More...

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. More...

bool	getNormalForClosestNeighbors (int x, int y, int radius, const Eigen::Vector3f &point, int no_of_nearest_neighbors, Eigen::Vector3f &normal, Eigen::Vector3f *point_on_plane=nullptr, int step_size=1) const
	Same as above. More...

bool	getNormalForClosestNeighbors (int x, int y, Eigen::Vector3f &normal, int radius=2) const
	Same as above, using default values. More...

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 neighbors in radius if normal_all_neighbors is not NULL. More...

float	getSquaredDistanceOfNthNeighbor (int x, int y, int radius, int n, int step_size) const

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 -INFINITY if one of the points is unobserved. More...

float	getImpactAngle (int x1, int y1, int x2, int y2) const
	Same as above. More...

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 angle based on this. More...

PCL_EXPORTS float *	getImpactAngleImageBasedOnLocalNormals (int radius) const
	Uses the above function for every point in the image. More...

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 uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated. More...

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 return -INFINITY if one of the points is unobserved. More...

float	getAcutenessValue (int x1, int y1, int x2, int y2) const
	Same as above. More...

PCL_EXPORTS void	getAcutenessValueImages (int pixel_distance, float &acuteness_value_image_x, float &acuteness_value_image_y) const
	Calculate getAcutenessValue for every point. More...

PCL_EXPORTS float	getSurfaceChange (int x, int y, int radius) const
	Calculates, how much the surface changes at a point. More...

PCL_EXPORTS float *	getSurfaceChangeImage (int radius) const
	Uses the above function for every point in the image. More...

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. More...

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. More...

float	getCurvature (int x, int y, int radius, int step_size) const
	Calculates the curvature in a point using pca. More...

const Eigen::Vector3f	getSensorPos () const
	Get the sensor position. More...

PCL_EXPORTS void	setUnseenToMaxRange ()
	Sets all -INFINITY values to INFINITY. More...

int	getImageOffsetX () const
	Getter for image_offset_x_. More...

int	getImageOffsetY () const
	Getter for image_offset_y_. More...

void	setImageOffsets (int offset_x, int offset_y)
	Setter for image offsets. More...

PCL_EXPORTS void	getMinMaxRanges (float &min_range, float &max_range) const
	Find the minimum and maximum range in the image. More...

PCL_EXPORTS void	change3dPointsToLocalCoordinateFrame ()
	This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame. More...

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. More...

PCL_EXPORTS float *	getInterpolatedSurfaceProjection (const Eigen::Vector3f &point, int pixel_size, float world_size) const
	Same as above, but using the local coordinate frame defined by point and the viewing direction. More...

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. More...

void	getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, using a reference for the retrurn value. More...

void	getRotationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, but only returning the rotation. More...

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. More...

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). More...

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. More...

virtual PCL_EXPORTS void	getBlurredImage (int blur_radius, RangeImage &range_image) const
	Get a blurred version of the range image using box filters. More...

float	getEuclideanDistanceSquared (int x1, int y1, int x2, int y2) const
	Get the squared euclidean distance between the two image points. More...

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. More...

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. More...

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,y in the direction delta. More...

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 *this) More...

bool	getViewingDirection (int x, int y, Eigen::Vector3f &viewing_direction) const
	Get the viewing direction for the given point. More...

void	getViewingDirection (const Eigen::Vector3f &point, Eigen::Vector3f &viewing_direction) const
	Get the viewing direction for the given point. More...

Public Member Functions inherited from pcl::PointCloud< PointWithRange >
	PointCloud ()=default
	Default constructor. More...

	PointCloud (const PointCloud< PointWithRange > &pc, const Indices &indices)
	Copy constructor from point cloud subset. More...

	PointCloud (std::uint32_t width_, std::uint32_t height_, const PointWithRange &value_=PointWithRange())
	Allocate constructor from point cloud subset. More...

PointCloud &	operator+= (const PointCloud &rhs)
	Add a point cloud to the current cloud. More...

PointCloud	operator+ (const PointCloud &rhs)
	Add a point cloud to another cloud. More...

const PointWithRange &	at (int column, int row) const
	Obtain the point given by the (column, row) coordinates. More...

PointWithRange &	at (int column, int row)
	Obtain the point given by the (column, row) coordinates. More...

const PointWithRange &	at (std::size_t n) const

PointWithRange &	at (std::size_t n)

const PointWithRange &	operator() (std::size_t column, std::size_t row) const
	Obtain the point given by the (column, row) coordinates. More...

PointWithRange &	operator() (std::size_t column, std::size_t row)
	Obtain the point given by the (column, row) coordinates. More...

bool	isOrganized () const
	Return whether a dataset is organized (e.g., arranged in a structured grid). More...

Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap (int dim, int stride, int offset)
	Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. More...

const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap (int dim, int stride, int offset) const
	Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud. More...

Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap ()

const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap () const

iterator	begin () noexcept

const_iterator	begin () const noexcept

iterator	end () noexcept

const_iterator	end () const noexcept

const_iterator	cbegin () const noexcept

const_iterator	cend () const noexcept

reverse_iterator	rbegin () noexcept

const_reverse_iterator	rbegin () const noexcept

reverse_iterator	rend () noexcept

const_reverse_iterator	rend () const noexcept

const_reverse_iterator	crbegin () const noexcept

const_reverse_iterator	crend () const noexcept

std::size_t	size () const

index_t	max_size () const noexcept

void	reserve (std::size_t n)

bool	empty () const

PointWithRange *	data () noexcept

const PointWithRange *	data () const noexcept

void	resize (std::size_t count)
	Resizes the container to contain `count` elements. More...

void	resize (uindex_t new_width, uindex_t new_height)
	Resizes the container to contain `new_width * new_height` elements. More...

void	resize (index_t count, const PointWithRange &value)
	Resizes the container to contain count elements. More...

void	resize (index_t new_width, index_t new_height, const PointWithRange &value)
	Resizes the container to contain count elements. More...

const PointWithRange &	operator[] (std::size_t n) const

PointWithRange &	operator[] (std::size_t n)

const PointWithRange &	front () const

PointWithRange &	front ()

const PointWithRange &	back () const

PointWithRange &	back ()

void	assign (index_t count, const PointWithRange &value)
	Replaces the points with `count` copies of `value` More...

void	assign (index_t new_width, index_t new_height, const PointWithRange &value)
	Replaces the points with `new_width * new_height` copies of `value` More...

void	assign (InputIterator first, InputIterator last)
	Replaces the points with copies of those in the range `[first, last)` More...

void	assign (InputIterator first, InputIterator last, index_t new_width)
	Replaces the points with copies of those in the range `[first, last)` More...

void	assign (std::initializer_list< PointWithRange > ilist)
	Replaces the points with the elements from the initializer list `ilist` More...

void	assign (std::initializer_list< PointWithRange > ilist, index_t new_width)
	Replaces the points with the elements from the initializer list `ilist` More...

void	push_back (const PointWithRange &pt)
	Insert a new point in the cloud, at the end of the container. More...

void	transient_push_back (const PointWithRange &pt)
	Insert a new point in the cloud, at the end of the container. More...

reference	emplace_back (Args &&...args)
	Emplace a new point in the cloud, at the end of the container. More...

reference	transient_emplace_back (Args &&...args)
	Emplace a new point in the cloud, at the end of the container. More...

iterator	insert (iterator position, const PointWithRange &pt)
	Insert a new point in the cloud, given an iterator. More...

void	insert (iterator position, std::size_t n, const PointWithRange &pt)
	Insert a new point in the cloud N times, given an iterator. More...

void	insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position. More...

iterator	transient_insert (iterator position, const PointWithRange &pt)
	Insert a new point in the cloud, given an iterator. More...

void	transient_insert (iterator position, std::size_t n, const PointWithRange &pt)
	Insert a new point in the cloud N times, given an iterator. More...

void	transient_insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position. More...

iterator	emplace (iterator position, Args &&...args)
	Emplace a new point in the cloud, given an iterator. More...

iterator	transient_emplace (iterator position, Args &&...args)
	Emplace a new point in the cloud, given an iterator. More...

iterator	erase (iterator position)
	Erase a point in the cloud. More...

iterator	erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair. More...

iterator	transient_erase (iterator position)
	Erase a point in the cloud. More...

iterator	transient_erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair. More...

void	swap (PointCloud< PointWithRange > &rhs)
	Swap a point cloud with another cloud. More...

void	clear ()
	Removes all points in a cloud and sets the width and height to 0. More...

Ptr	makeShared () const
	Copy the cloud to the heap and return a smart pointer Note that deep copy is performed, so avoid using this function on non-empty clouds. More...

Protected Attributes
float	focal_length_x_

float	focal_length_y_
	The focal length of the image in pixels. More...

float	focal_length_x_reciprocal_

float	focal_length_y_reciprocal_
	1/focal_length -> for internal use More...

float	center_x_

float	center_y_
	The principle point of the image. More...

Protected Attributes inherited from pcl::RangeImage
Eigen::Affine3f	to_range_image_system_
	Inverse of to_world_system_. More...

Eigen::Affine3f	to_world_system_
	Inverse of to_range_image_system_. More...

float	angular_resolution_x_
	Angular resolution of the range image in x direction in radians per pixel. More...

float	angular_resolution_y_
	Angular resolution of the range image in y direction in radians per pixel. More...

float	angular_resolution_x_reciprocal_
	1.0/angular_resolution_x_ - provided for better performance of multiplication compared to division More...

float	angular_resolution_y_reciprocal_
	1.0/angular_resolution_y_ - provided for better performance of multiplication compared to division More...

int	image_offset_x_

int	image_offset_y_
	Position of the top left corner of the range image compared to an image of full size (360x180 degrees) More...

PointWithRange	unobserved_point
	This point is used to be able to return a reference to a non-existing point. More...

Additional Inherited Members
Static Public Member Functions inherited from pcl::RangeImage
static float	getMaxAngleSize (const Eigen::Affine3f &viewer_pose, const Eigen::Vector3f &center, float radius)
	Get the size of a certain area when seen from the given pose. More...

static Eigen::Vector3f	getEigenVector3f (const PointWithRange &point)
	Get Eigen::Vector3f from PointWithRange. More...

static PCL_EXPORTS void	getCoordinateFrameTransformation (RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
	Get the transformation that transforms the given coordinate frame into CAMERA_FRAME. More...

template<typename PointCloudTypeWithViewpoints >
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, vp_y, vp_z. More...

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. More...

Static Public Member Functions inherited from pcl::PointCloud< PointWithRange >
static bool	concatenate (pcl::PointCloud< PointWithRange > &cloud1, const pcl::PointCloud< PointWithRange > &cloud2)

static bool	concatenate (const pcl::PointCloud< PointWithRange > &cloud1, const pcl::PointCloud< PointWithRange > &cloud2, pcl::PointCloud< PointWithRange > &cloud_out)

Public Attributes inherited from pcl::PointCloud< PointWithRange >
pcl::PCLHeader	header
	The point cloud header. More...

std::vector< PointWithRange, Eigen::aligned_allocator< PointWithRange > >	points
	The point data. More...

std::uint32_t	width
	The point cloud width (if organized as an image-structure). More...

std::uint32_t	height
	The point cloud height (if organized as an image-structure). More...

bool	is_dense
	True if no points are invalid (e.g., have NaN or Inf values in any of their floating point fields). More...

Eigen::Vector4f	sensor_origin_
	Sensor acquisition pose (origin/translation). More...

Eigen::Quaternionf	sensor_orientation_
	Sensor acquisition pose (rotation). More...

Static Public Attributes inherited from pcl::RangeImage
static int	max_no_of_threads
	The maximum number of openmp threads that can be used in this class. More...

static bool	debug
	Just for... More...

Static Protected Member Functions inherited from pcl::RangeImage
static void	createLookupTables ()
	Create lookup tables for trigonometric functions. More...

static float	asinLookUp (float value)
	Query the asin lookup table. More...

static float	atan2LookUp (float y, float x)
	Query the std::atan2 lookup table. More...

static float	cosLookUp (float value)
	Query the cos lookup table. More...

Static Protected Attributes inherited from pcl::RangeImage
static const int	lookup_table_size

static std::vector< float >	asin_lookup_table

static std::vector< float >	atan_lookup_table

static std::vector< float >	cos_lookup_table

Detailed Description

Author: Bastian Steder

Definition at line 51 of file range_image_planar.h.

Member Typedef Documentation

BaseClass

using pcl::RangeImagePlanar::BaseClass = RangeImage

Definition at line 55 of file range_image_planar.h.

ConstPtr

using pcl::RangeImagePlanar::ConstPtr = shared_ptr<const RangeImagePlanar>

Definition at line 57 of file range_image_planar.h.

Ptr

using pcl::RangeImagePlanar::Ptr = shared_ptr<RangeImagePlanar>

Definition at line 56 of file range_image_planar.h.

Constructor & Destructor Documentation

RangeImagePlanar()

PCL_EXPORTS pcl::RangeImagePlanar::RangeImagePlanar ( )

Constructor.

Referenced by getNew().

~RangeImagePlanar()

PCL_EXPORTS pcl::RangeImagePlanar::~RangeImagePlanar ( )

Destructor.

Member Function Documentation

calculate3DPoint() [1/5]

void pcl::RangeImage::calculate3DPoint

inline

Calculate the 3D point according to the given image point and the range value at the closest pixel.

Definition at line 577 of file range_image.hpp.

calculate3DPoint() [2/5]

void pcl::RangeImage::calculate3DPoint

inline

Calculate the 3D point according to the given image point and range.

Definition at line 564 of file range_image.hpp.

calculate3DPoint() [3/5]

void pcl::RangeImagePlanar::calculate3DPoint	(	float	image_x,
		float	image_y,
		float	range,
		Eigen::Vector3f &	point
	)		const

inlineoverridevirtual

Calculate the 3D point according to the given image point and range.

Parameters

image_x	the x image position
image_y	the y image position
range	the range
point	the resulting 3D point

Note: Implementation according to planar range images (compared to spherical as in the original)

Reimplemented from pcl::RangeImage.

Definition at line 92 of file range_image_planar.hpp.

References center_x_, center_y_, focal_length_x_reciprocal_, focal_length_y_reciprocal_, pcl::RangeImage::image_offset_x_, pcl::RangeImage::image_offset_y_, and pcl::RangeImage::to_world_system_.

calculate3DPoint() [4/5]

void pcl::RangeImage::calculate3DPoint

inline

Calculate the 3D point according to the given image point and range.

Definition at line 585 of file range_image.hpp.

calculate3DPoint() [5/5]

void pcl::RangeImage::calculate3DPoint

inline

Calculate the 3D point according to the given image point and the range value at the closest pixel.

Definition at line 594 of file range_image.hpp.

copyTo()

PCL_EXPORTS void pcl::RangeImagePlanar::copyTo ( RangeImage & other ) const

overridevirtual

Copy *this to other.

Derived version - also copying additional RangeImagePlanar members

Reimplemented from pcl::RangeImage.

createFromPointCloudWithFixedSize()

template<typename PointCloudType >

void pcl::RangeImagePlanar::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.

Parameters

point_cloud	the source point cloud
di_width	the disparity image width
di_height	the disparity image height
di_center_x	the x-coordinate of the camera's center of projection
di_center_y	the y-coordinate of the camera's center of projection
di_focal_length_x	the camera's focal length in the horizontal direction
di_focal_length_y	the camera's focal length in the vertical direction
sensor_pose	the pose of the virtual depth camera
coordinate_frame	the used coordinate frame of the point cloud
noise_level	what is the typical noise of the sensor - is used for averaging in the z-buffer
min_range	minimum range to consifder points

Definition at line 50 of file range_image_planar.hpp.

References center_x_, center_y_, pcl::RangeImage::doZBuffer(), focal_length_x_, focal_length_x_reciprocal_, focal_length_y_, focal_length_y_reciprocal_, pcl::RangeImage::getCoordinateFrameTransformation(), pcl::PointCloud< PointWithRange >::height, pcl::PointCloud< PointWithRange >::is_dense, pcl::PointCloud< PointWithRange >::points, pcl::RangeImage::recalculate3DPointPositions(), pcl::PointCloud< PointWithRange >::size(), pcl::RangeImage::to_range_image_system_, pcl::RangeImage::to_world_system_, pcl::RangeImage::unobserved_point, and pcl::PointCloud< PointWithRange >::width.

getCenterX()

float pcl::RangeImagePlanar::getCenterX ( ) const

inline

Getter for the principal point in X.

Definition at line 201 of file range_image_planar.h.

References center_x_.

getCenterY()

float pcl::RangeImagePlanar::getCenterY ( ) const

inline

Getter for the principal point in Y.

Definition at line 205 of file range_image_planar.h.

References center_y_.

getFocalLengthX()

float pcl::RangeImagePlanar::getFocalLengthX ( ) const

inline

Getter for the focal length in X.

Definition at line 193 of file range_image_planar.h.

References focal_length_x_.

getFocalLengthY()

float pcl::RangeImagePlanar::getFocalLengthY ( ) const

inline

Getter for the focal length in Y.

Definition at line 197 of file range_image_planar.h.

References focal_length_y_.

getHalfImage()

PCL_EXPORTS void pcl::RangeImagePlanar::getHalfImage ( RangeImage & half_image ) const

overridevirtual

Get a range image with half the resolution.

Reimplemented from pcl::RangeImage.

getImagePoint() [1/8]

void pcl::RangeImage::getImagePoint

inline

Same as above.

Definition at line 377 of file range_image.hpp.

getImagePoint() [2/8]

void pcl::RangeImage::getImagePoint

inline

Get imagePoint from 3D point in world coordinates.

Definition at line 355 of file range_image.hpp.

getImagePoint() [3/8]

void pcl::RangeImagePlanar::getImagePoint	(	const Eigen::Vector3f &	point,
		float &	image_x,
		float &	image_y,
		float &	range
	)		const

inlineoverridevirtual

Calculate the image point and range from the given 3D point.

Parameters

point	the resulting 3D point
image_x	the resulting x image position
image_y	the resulting y image position
range	the resulting range

Note: Implementation according to planar range images (compared to spherical as in the original)

Reimplemented from pcl::RangeImage.

Definition at line 105 of file range_image_planar.hpp.

References center_x_, center_y_, focal_length_x_, focal_length_y_, pcl::RangeImage::image_offset_x_, pcl::RangeImage::image_offset_y_, and pcl::RangeImage::to_range_image_system_.

getImagePoint() [4/8]

void pcl::RangeImage::getImagePoint

inline

Same as above.

Definition at line 385 of file range_image.hpp.

getImagePoint() [5/8]

void pcl::RangeImage::getImagePoint

inline

Same as above.

Definition at line 369 of file range_image.hpp.

getImagePoint() [6/8]

void pcl::RangeImage::getImagePoint

inline

Same as above.

Definition at line 338 of file range_image.hpp.

getImagePoint() [7/8]

void pcl::RangeImage::getImagePoint

inline

Same as above.

Definition at line 330 of file range_image.hpp.

getImagePoint() [8/8]

void pcl::RangeImage::getImagePoint

inline

Same as above.

Definition at line 346 of file range_image.hpp.

getNew()

RangeImage* pcl::RangeImagePlanar::getNew ( ) const

inlineoverridevirtual

Return a newly created RangeImagePlanar.

Reimplementation to return an image of the same type.

Reimplemented from pcl::RangeImage.

Definition at line 68 of file range_image_planar.h.

References RangeImagePlanar().

getSubImage()

PCL_EXPORTS void pcl::RangeImagePlanar::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

overridevirtual

Get a sub part of the complete image as a new range image.

Parameters

sub_image_image_offset_x	- The x coordinate of the top left pixel of the sub image. This is always according to absolute 0,0 meaning -180°,-90° and it is already in the system of the new image, so the actual pixel used in the original image is combine_pixels* (image_offset_x-image_offset_x_)
sub_image_image_offset_y	- Same as image_offset_x for the y coordinate
sub_image_width	- width of the new image
sub_image_height	- height of the new image
combine_pixels	- shrinking factor, meaning the new angular resolution is combine_pixels times the old one
sub_image	- the output image

Reimplemented from pcl::RangeImage.

makeShared()

Ptr pcl::RangeImagePlanar::makeShared ( )

inline

Get a boost shared pointer of a copy of this.

Definition at line 77 of file range_image_planar.h.

setDepthImage() [1/2]

PCL_EXPORTS void pcl::RangeImagePlanar::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.

Parameters

depth_image	the input depth image data as float values
di_width	the disparity image width
di_height	the disparity image height
di_center_x	the x-coordinate of the camera's center of projection
di_center_y	the y-coordinate of the camera's center of projection
di_focal_length_x	the camera's focal length in the horizontal direction
di_focal_length_y	the camera's focal length in the vertical direction
desired_angular_resolution	If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel.

setDepthImage() [2/2]

PCL_EXPORTS void pcl::RangeImagePlanar::setDepthImage	(	const unsigned short *	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.

Parameters

depth_image	the input disparity image data as short values describing millimeters
di_width	the disparity image width
di_height	the disparity image height
di_center_x	the x-coordinate of the camera's center of projection
di_center_y	the y-coordinate of the camera's center of projection
di_focal_length_x	the camera's focal length in the horizontal direction
di_focal_length_y	the camera's focal length in the vertical direction
desired_angular_resolution	If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel.

setDisparityImage()

PCL_EXPORTS void pcl::RangeImagePlanar::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.

Parameters

disparity_image	the input disparity image data
di_width	the disparity image width
di_height	the disparity image height
focal_length	the focal length of the primary camera that generated the disparity image
base_line	the baseline of the stereo pair that generated the disparity image
desired_angular_resolution	If this is set, the system will skip as many pixels as necessary to get as close to this angular resolution as possible while not going over this value (the density will not be lower than this value). The value is in radians per pixel.

Member Data Documentation

center_x_

float pcl::RangeImagePlanar::center_x_

protected

Definition at line 211 of file range_image_planar.h.

Referenced by calculate3DPoint(), createFromPointCloudWithFixedSize(), getCenterX(), and getImagePoint().

center_y_

float pcl::RangeImagePlanar::center_y_

protected

The principle point of the image.

Definition at line 211 of file range_image_planar.h.

Referenced by calculate3DPoint(), createFromPointCloudWithFixedSize(), getCenterY(), and getImagePoint().

focal_length_x_

float pcl::RangeImagePlanar::focal_length_x_

protected

Definition at line 209 of file range_image_planar.h.

Referenced by createFromPointCloudWithFixedSize(), getFocalLengthX(), and getImagePoint().

focal_length_x_reciprocal_

float pcl::RangeImagePlanar::focal_length_x_reciprocal_

protected

Definition at line 210 of file range_image_planar.h.

Referenced by calculate3DPoint(), and createFromPointCloudWithFixedSize().

focal_length_y_

float pcl::RangeImagePlanar::focal_length_y_

protected

The focal length of the image in pixels.

Definition at line 209 of file range_image_planar.h.

Referenced by createFromPointCloudWithFixedSize(), getFocalLengthY(), and getImagePoint().

focal_length_y_reciprocal_

float pcl::RangeImagePlanar::focal_length_y_reciprocal_

protected

1/focal_length -> for internal use

Definition at line 210 of file range_image_planar.h.

Referenced by calculate3DPoint(), and createFromPointCloudWithFixedSize().

The documentation for this class was generated from the following files:

pcl/range_image/range_image_planar.h
pcl/range_image/impl/range_image_planar.hpp

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_range_image_planar.html

Name	PointCloudLibrary
Version
Badge
Last Updated	2021-12-29T19:25:09Z

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

BaseClass

ConstPtr

Ptr

Constructor & Destructor Documentation

RangeImagePlanar()

~RangeImagePlanar()

Member Function Documentation

calculate3DPoint() [1/5]

calculate3DPoint() [2/5]

calculate3DPoint() [3/5]

calculate3DPoint() [4/5]

calculate3DPoint() [5/5]

copyTo()

createFromPointCloudWithFixedSize()

getCenterX()

getCenterY()

getFocalLengthX()

getFocalLengthY()

getHalfImage()

getImagePoint() [1/8]

getImagePoint() [2/8]

getImagePoint() [3/8]

getImagePoint() [4/8]

getImagePoint() [5/8]

getImagePoint() [6/8]

getImagePoint() [7/8]

getImagePoint() [8/8]

getNew()

getSubImage()

makeShared()

setDepthImage() [1/2]

setDepthImage() [2/2]

setDisparityImage()

Member Data Documentation

center_x_

center_y_

focal_length_x_

focal_length_x_reciprocal_

focal_length_y_

focal_length_y_reciprocal_