pcl::RangeImagePlanar Class Reference

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>

Inheritance diagram for pcl::RangeImagePlanar:

Collaboration diagram for pcl::RangeImagePlanar:

List of all members.

Public Types
typedef RangeImage	BaseClass
typedef boost::shared_ptr < RangeImagePlanar >	Ptr
typedef boost::shared_ptr < const RangeImagePlanar >	ConstPtr
enum	CoordinateFrame { CAMERA_FRAME = 0, LASER_FRAME = 1 }
typedef std::vector < Eigen::Vector3f, Eigen::aligned_allocator < Eigen::Vector3f > >	VectorOfEigenVector3f
typedef PointWithRange	PointType
typedef std::vector < PointWithRange, Eigen::aligned_allocator < PointWithRange > >	VectorType
typedef std::vector < PointCloud< PointWithRange > , Eigen::aligned_allocator < PointCloud< PointWithRange > > >	CloudVectorType
typedef VectorType::iterator	iterator
typedef VectorType::const_iterator	const_iterator
Public Member Functions
PCL_EXPORTS	RangeImagePlanar ()
	Constructor.
PCL_EXPORTS	~RangeImagePlanar ()
	Destructor.
virtual RangeImage *	getNew () const
	Return a newly created RangeImagePlanar.
Ptr	makeShared ()
	Get a boost shared pointer of a copy of this.
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	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.
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.
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.
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.
virtual void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
	Calculate the image point and range from the given 3D point.
virtual 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
	Get a sub part of the complete image as a new range image.
virtual PCL_EXPORTS void	getHalfImage (RangeImage &half_image) const
	Get a range image with half the resolution.
const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int x, int y) const
	Same as above.
const Eigen::Map< const Eigen::Vector3f >	getEigenVector3f (int index) const
	Same as above.
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.
PCL_EXPORTS void	reset ()
	Reset all values to an empty range image.
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.
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.
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.
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.
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)).
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)).
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)
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)
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.
PCL_EXPORTS void	integrateFarRanges (const PointCloud< PointWithViewpoint > &far_ranges)
	Integrates the given far range measurements into the range image.
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.
PCL_EXPORTS float *	getRangesArray () const
	Get all the range values in one float array of size width*height.
const Eigen::Affine3f &	getTransformationToRangeImageSystem () const
	Getter for the transformation from the world system into the range image system (the sensor coordinate frame)
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.
const Eigen::Affine3f &	getTransformationToWorldSystem () const
	Getter for the transformation from the range image system (the sensor coordinate frame) into the world system.
float	getAngularResolution () const
	Getter for the angular resolution of the range image in x direction in radians per pixel.
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).
float	getAngularResolutionX () const
	Getter for the angular resolution of the range image in x direction in radians per pixel.
float	getAngularResolutionY () const
	Getter for the angular resolution of the range image in y direction in radians per pixel.
void	setAngularResolution (float angular_resolution)
	Set the angular resolution of the range image.
void	setAngularResolution (float angular_resolution_x, float angular_resolution_y)
	Set the angular resolution of the range image.
const PointWithRange &	getPoint (int image_x, int image_y) const
	Return the 3D point with range at the given image position.
PointWithRange &	getPoint (int image_x, int image_y)
	Non-const-version of getPoint.
const PointWithRange &	getPoint (float image_x, float image_y) const
	Return the 3d point with range at the given image position.
PointWithRange &	getPoint (float image_x, float image_y)
	Non-const-version of the above.
void	getPoint (int image_x, int image_y, Eigen::Vector3f &point) const
	Same as above.
void	getPoint (int index, Eigen::Vector3f &point) const
	Same as above.
const PointWithRange &	getPoint (int index) const
	Return the 3d point with range at the given index (whereas index=y*width+x)
const PointWithRange &	getPointNoCheck (int image_x, int image_y) const
	Return the 3D point with range at the given image position.
PointWithRange &	getPointNoCheck (int image_x, int image_y)
	Non-const-version of getPointNoCheck.
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	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.
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.
PCL_EXPORTS void	recalculate3DPointPositions ()
	Recalculate all 3D point positions according to their pixel position and range.
void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y, float &range) const
	Same as above.
void	getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y) const
	Same as above.
void	getImagePoint (const Eigen::Vector3f &point, int &image_x, int &image_y) const
	Same as above.
void	getImagePoint (float x, float y, float z, float &image_x, float &image_y, float &range) const
	Same as above.
void	getImagePoint (float x, float y, float z, float &image_x, float &image_y) const
	Same as above.
void	getImagePoint (float x, float y, float z, int &image_x, int &image_y) const
	Same as above.
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.
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.
void	getImagePointFromAngles (float angle_x, float angle_y, float &image_x, float &image_y) const
	Get the image point corresponding to the given angles.
void	getAnglesFromImagePoint (float image_x, float image_y, float &angle_x, float &angle_y) const
	Get the angles corresponding to the given image 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	isInImage (int x, int y) const
	Check if a point is inside of the image.
bool	isValid (int x, int y) const
	Check if a point is inside of the image and has a finite range.
bool	isValid (int index) const
	Check if a point has a finite range.
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)
bool	isMaxRange (int x, int y) const
	Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!
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.
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.
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=NULL, int step_size=1) const
	Same as above.
bool	getNormalForClosestNeighbors (int x, int y, Eigen::Vector3f &normal, int radius=2) const
	Same as above, using default values.
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=NULL, Eigen::Vector3f *mean_all_neighbors=NULL, Eigen::Vector3f *eigen_values_all_neighbors=NULL) 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.
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.
float	getImpactAngle (int x1, int y1, int x2, int y2) const
	Same as above.
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.
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 uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated.
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.
float	getAcutenessValue (int x1, int y1, int x2, int y2) const
	Same as above.
PCL_EXPORTS void	getAcutenessValueImages (int pixel_distance, float *&acuteness_value_image_x, float *&acuteness_value_image_y) const
	Calculate getAcutenessValue for every point.
PCL_EXPORTS float	getSurfaceChange (int x, int y, int radius) const
	Calculates, how much the surface changes at a point.
PCL_EXPORTS float *	getSurfaceChangeImage (int radius) const
	Uses the above function for every point in the image.
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.
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.
float	getCurvature (int x, int y, int radius, int step_size) const
	Calculates the curvature in a point using pca.
const Eigen::Vector3f	getSensorPos () const
	Get the sensor position.
PCL_EXPORTS void	setUnseenToMaxRange ()
	Sets all -INFINITY values to INFINITY.
int	getImageOffsetX () const
	Getter for image_offset_x_.
int	getImageOffsetY () const
	Getter for image_offset_y_.
void	setImageOffsets (int offset_x, int offset_y)
	Setter for image offsets.
PCL_EXPORTS void	getMinMaxRanges (float &min_range, float &max_range) const
	Find the minimum and maximum range in the image.
PCL_EXPORTS void	change3dPointsToLocalCoordinateFrame ()
	This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame.
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 *	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.
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.
void	getTransformationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, using a reference for the retrurn value.
void	getRotationToViewerCoordinateFrame (const Eigen::Vector3f &point, Eigen::Affine3f &transformation) const
	Same as above, but only returning the rotation.
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.
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).
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	getBlurredImage (int blur_radius, RangeImage &range_image) const
	Get a blurred version of the range image using box filters.
float	getEuclideanDistanceSquared (int x1, int y1, int x2, int y2) const
	Get the squared euclidean distance between the two image points.
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.
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.
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.
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)
bool	getViewingDirection (int x, int y, Eigen::Vector3f &viewing_direction) const
	Get the viewing direction for the given point.
void	getViewingDirection (const Eigen::Vector3f &point, Eigen::Vector3f &viewing_direction) const
	Get the viewing direction for the given point.
PointCloud &	operator+= (const PointCloud &rhs)
	Add a point cloud to the current cloud.
const PointCloud	operator+ (const PointCloud &rhs)
	Add a point cloud to another cloud.
const PointWithRange &	at (int column, int row) const
	Obtain the point given by the (column, row) coordinates.
PointWithRange &	at (int column, int row)
	Obtain the point given by the (column, row) coordinates.
const PointWithRange &	at (size_t n) const
PointWithRange &	at (size_t n)
const PointWithRange &	operator() (size_t column, size_t row) const
	Obtain the point given by the (column, row) coordinates.
PointWithRange &	operator() (size_t column, size_t row)
	Obtain the point given by the (column, row) coordinates.
bool	isOrganized () const
	Return whether a dataset is organized (e.g., arranged in a structured grid).
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.
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.
Eigen::Map< Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap ()
	Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.
const Eigen::Map< const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> >	getMatrixXfMap () const
	Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.
iterator	begin ()
const_iterator	begin () const
iterator	end ()
const_iterator	end () const
size_t	size () const
void	reserve (size_t n)
bool	empty () const
void	resize (size_t n)
	Resize the cloud.
const PointWithRange &	operator[] (size_t n) const
PointWithRange &	operator[] (size_t n)
const PointWithRange &	front () const
PointWithRange &	front ()
const PointWithRange &	back () const
PointWithRange &	back ()
void	push_back (const PointWithRange &pt)
	Insert a new point in the cloud, at the end of the container.
iterator	insert (iterator position, const PointWithRange &pt)
	Insert a new point in the cloud, given an iterator.
void	insert (iterator position, size_t n, const PointWithRange &pt)
	Insert a new point in the cloud N times, given an iterator.
void	insert (iterator position, InputIterator first, InputIterator last)
	Insert a new range of points in the cloud, at a certain position.
iterator	erase (iterator position)
	Erase a point in the cloud.
iterator	erase (iterator first, iterator last)
	Erase a set of points given by a (first, last) iterator pair.
void	swap (PointCloud< PointWithRange > &rhs)
	Swap a point cloud with another cloud.
void	clear ()
	Removes all points in a cloud and sets the width and height to 0.
Static Public Member Functions
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.
static Eigen::Vector3f	getEigenVector3f (const PointWithRange &point)
	Get Eigen::Vector3f from PointWithRange.
static PCL_EXPORTS void	getCoordinateFrameTransformation (RangeImage::CoordinateFrame coordinate_frame, Eigen::Affine3f &transformation)
	Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.
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.
static PCL_EXPORTS void	extractFarRanges (const sensor_msgs::PointCloud2 &point_cloud_data, PointCloud< PointWithViewpoint > &far_ranges)
	Check if the provided data includes far ranges and add them to far_ranges.
Public Attributes
std_msgs::Header	header
	The point cloud header.
std::vector< PointWithRange, Eigen::aligned_allocator < PointWithRange > >	points
	The point data.
uint32_t	width
	The point cloud width (if organized as an image-structure).
uint32_t	height
	The point cloud height (if organized as an image-structure).
bool	is_dense
	True if no points are invalid (e.g., have NaN or Inf values).
Eigen::Vector4f	sensor_origin_
	Sensor acquisition pose (origin/translation).
Eigen::Quaternionf	sensor_orientation_
	Sensor acquisition pose (rotation).
Static Public Attributes
static int	max_no_of_threads
	The maximum number of openmp threads that can be used in this class.
static bool	debug
	Just for...

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Detailed Description

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.

Author:

Bastian Steder

Definition at line 49 of file range_image_planar.h.

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Member Typedef Documentation

typedef RangeImage pcl::RangeImagePlanar::BaseClass

Reimplemented from pcl::RangeImage.

Definition at line 53 of file range_image_planar.h.

typedef std::vector<PointCloud<PointWithRange >, Eigen::aligned_allocator<PointCloud<PointWithRange > > > pcl::PointCloud< PointWithRange >::CloudVectorType [inherited]

Definition at line 440 of file point_cloud.h.

typedef VectorType::const_iterator pcl::PointCloud< PointWithRange >::const_iterator [inherited]

Definition at line 446 of file point_cloud.h.

typedef boost::shared_ptr<const RangeImagePlanar> pcl::RangeImagePlanar::ConstPtr

Reimplemented from pcl::RangeImage.

Definition at line 55 of file range_image_planar.h.

typedef VectorType::iterator pcl::PointCloud< PointWithRange >::iterator [inherited]

Definition at line 445 of file point_cloud.h.

typedef PointWithRange pcl::PointCloud< PointWithRange >::PointType [inherited]

Definition at line 438 of file point_cloud.h.

typedef boost::shared_ptr<RangeImagePlanar> pcl::RangeImagePlanar::Ptr

Reimplemented from pcl::RangeImage.

Definition at line 54 of file range_image_planar.h.

typedef std::vector<Eigen::Vector3f, Eigen::aligned_allocator<Eigen::Vector3f> > pcl::RangeImage::VectorOfEigenVector3f [inherited]

Definition at line 60 of file range_image.h.

typedef std::vector<PointWithRange , Eigen::aligned_allocator<PointWithRange > > pcl::PointCloud< PointWithRange >::VectorType [inherited]

Definition at line 439 of file point_cloud.h.

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Member Enumeration Documentation

enum pcl::RangeImage::CoordinateFrame [inherited]

Enumerator:

CAMERA_FRAME
LASER_FRAME

Definition at line 64 of file range_image.h.

---

Constructor & Destructor Documentation

PCL_EXPORTS pcl::RangeImagePlanar::RangeImagePlanar

(

)

Constructor.

PCL_EXPORTS pcl::RangeImagePlanar::~RangeImagePlanar

(

)

Destructor.

---

Member Function Documentation

const PointWithRange & pcl::PointCloud< PointWithRange >::at	(	int	column,
		int	row
	)		const [inline, inherited]

Obtain the point given by the (column, row) coordinates.

Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 292 of file point_cloud.h.

PointWithRange & pcl::PointCloud< PointWithRange >::at	(	int	column,
		int	row
	)		[inline, inherited]

Obtain the point given by the (column, row) coordinates.

Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 306 of file point_cloud.h.

const PointWithRange & pcl::PointCloud< PointWithRange >::at

(

size_t

n

)

const [inline, inherited]

Definition at line 473 of file point_cloud.h.

PointWithRange & pcl::PointCloud< PointWithRange >::at

(

size_t

n

)

[inline, inherited]

Definition at line 474 of file point_cloud.h.

const PointWithRange & pcl::PointCloud< PointWithRange >::back

(

)

const [inline, inherited]

Definition at line 477 of file point_cloud.h.

PointWithRange & pcl::PointCloud< PointWithRange >::back

(

)

[inline, inherited]

Definition at line 478 of file point_cloud.h.

iterator pcl::PointCloud< PointWithRange >::begin

(

)

[inline, inherited]

Definition at line 447 of file point_cloud.h.

const_iterator pcl::PointCloud< PointWithRange >::begin

(

)

const [inline, inherited]

Definition at line 449 of file point_cloud.h.

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

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 86 of file range_image_planar.hpp.

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		float	range,
		PointWithRange &	point
	)		const [inline, inherited]

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

Definition at line 579 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		PointWithRange &	point
	)		const [inline, inherited]

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

Definition at line 588 of file range_image.hpp.

void pcl::RangeImage::calculate3DPoint	(	float	image_x,
		float	image_y,
		Eigen::Vector3f &	point
	)		const [inline, inherited]

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

Definition at line 571 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::change3dPointsToLocalCoordinateFrame

(

)

[inherited]

This function sets the sensor pose to 0 and transforms all point positions to this local coordinate frame.

float pcl::RangeImage::checkPoint	(	const Eigen::Vector3f &	point,
		PointWithRange &	point_in_image
	)		const [inline, inherited]

point_in_image will be the point in the image at the position the given point would be.

Returns the range of the given point.

Definition at line 385 of file range_image.hpp.

void pcl::PointCloud< PointWithRange >::clear

(

)

[inline, inherited]

Removes all points in a cloud and sets the width and height to 0.

Definition at line 580 of file point_cloud.h.

void pcl::RangeImage::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)
	)		[inherited]

Create an empty depth image (filled with unobserved points)

Parameters:

[in]	angular_resolution	the angle (in radians) between each sample in the depth image
[in]	sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
[in]	coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
[in]	angle_width	an angle (in radians) defining the horizontal bounds of the sensor (defaults to 2*pi (360deg))
[in]	angle_height	an angle (in radians) defining the vertical bounds of the sensor (defaults to pi (180deg))

void pcl::RangeImage::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)
	)		[inherited]

Create an empty depth image (filled with unobserved points)

Parameters:

	angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
	angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
[in]	sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
[in]	coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
[in]	angle_width	an angle (in radians) defining the horizontal bounds of the sensor (defaults to 2*pi (360deg))
[in]	angle_height	an angle (in radians) defining the vertical bounds of the sensor (defaults to pi (180deg))

template<typename PointCloudType >

void pcl::RangeImage::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 (),
		RangeImage::CoordinateFrame	coordinate_frame = CAMERA_FRAME,
		float	noise_level = 0.0f,
		float	min_range = 0.0f,
		int	border_size = 0
	)		[inherited]

Create the depth image from a point cloud.

Parameters:

point_cloud	the input point cloud
angular_resolution	the angular difference (in radians) between the individual pixels in the image
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 88 of file range_image.hpp.

template<typename PointCloudType >

void pcl::RangeImage::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 (),
		RangeImage::CoordinateFrame	coordinate_frame = CAMERA_FRAME,
		float	noise_level = 0.0f,
		float	min_range = 0.0f,
		int	border_size = 0
	)		[inherited]

Create the depth image from a point cloud.

Parameters:

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 99 of file range_image.hpp.

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 44 of file range_image_planar.hpp.

template<typename PointCloudType >

void pcl::RangeImage::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 (),
		RangeImage::CoordinateFrame	coordinate_frame = CAMERA_FRAME,
		float	noise_level = 0.0f,
		float	min_range = 0.0f,
		int	border_size = 0
	)		[inherited]

Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.

Parameters:

point_cloud	the input point cloud
angular_resolution	the angle (in radians) between each sample in the depth image
point_cloud_center	the center of bounding sphere
point_cloud_radius	the radius of the bounding sphere
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 136 of file range_image.hpp.

template<typename PointCloudType >

void pcl::RangeImage::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 (),
		RangeImage::CoordinateFrame	coordinate_frame = CAMERA_FRAME,
		float	noise_level = 0.0f,
		float	min_range = 0.0f,
		int	border_size = 0
	)		[inherited]

Create the depth image from a point cloud, getting a hint about the size of the scene for faster calculation.

Parameters:

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
angular_resolution	the angle (in radians) between each sample in the depth image
point_cloud_center	the center of bounding sphere
point_cloud_radius	the radius of the bounding sphere
sensor_pose	an affine matrix defining the pose of the sensor (defaults to Eigen::Affine3f::Identity () )
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Definition at line 147 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >

void pcl::RangeImage::createFromPointCloudWithViewpoints	(	const PointCloudTypeWithViewpoints &	point_cloud,
		float	angular_resolution,
		float	max_angle_width,
		float	max_angle_height,
		RangeImage::CoordinateFrame	coordinate_frame = CAMERA_FRAME,
		float	noise_level = 0.0f,
		float	min_range = 0.0f,
		int	border_size = 0
	)		[inherited]

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)).

Parameters:

point_cloud	the input point cloud
angular_resolution	the angle (in radians) between each sample in the depth image
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Note:

If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

Definition at line 197 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >

void pcl::RangeImage::createFromPointCloudWithViewpoints	(	const PointCloudTypeWithViewpoints &	point_cloud,
		float	angular_resolution_x,
		float	angular_resolution_y,
		float	max_angle_width,
		float	max_angle_height,
		RangeImage::CoordinateFrame	coordinate_frame = CAMERA_FRAME,
		float	noise_level = 0.0f,
		float	min_range = 0.0f,
		int	border_size = 0
	)		[inherited]

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)).

Parameters:

point_cloud	the input point cloud
angular_resolution_x	the angular difference (in radians) between the individual pixels in the image in the x-direction
angular_resolution_y	the angular difference (in radians) between the individual pixels in the image in the y-direction
max_angle_width	an angle (in radians) defining the horizontal bounds of the sensor
max_angle_height	an angle (in radians) defining the vertical bounds of the sensor
coordinate_frame	the coordinate frame (defaults to CAMERA_FRAME)
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range (defaults to 0)
border_size	the border size (defaults to 0)

Note:

If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

Definition at line 210 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::cropImage	(	int	border_size = 0,
		int	top = -1,
		int	right = -1,
		int	bottom = -1,
		int	left = -1
	)		[inherited]

Cut the range image to the minimal size so that it still contains all actual range readings.

Parameters:

border_size	allows increase from the minimal size by the specified number of pixels (defaults to 0)
top	if positive, this value overrides the position of the top edge (defaults to -1)
right	if positive, this value overrides the position of the right edge (defaults to -1)
bottom	if positive, this value overrides the position of the bottom edge (defaults to -1)
left	if positive, this value overrides the position of the left edge (defaults to -1)

template<typename PointCloudType >

void pcl::RangeImage::doZBuffer	(	const PointCloudType &	point_cloud,
		float	noise_level,
		float	min_range,
		int &	top,
		int &	right,
		int &	bottom,
		int &	left
	)		[inherited]

Integrate the given point cloud into the current range image using a z-buffer.

Parameters:

point_cloud	the input point cloud
noise_level	- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.
min_range	the minimum visible range
top	returns the minimum y pixel position in the image where a point was added
right	returns the maximum x pixel position in the image where a point was added
bottom	returns the maximum y pixel position in the image where a point was added
top	returns the minimum y position in the image where a point was added
left	returns the minimum x pixel position in the image where a point was added

Definition at line 224 of file range_image.hpp.

bool pcl::PointCloud< PointWithRange >::empty

(

)

const [inline, inherited]

Definition at line 455 of file point_cloud.h.

iterator pcl::PointCloud< PointWithRange >::end

(

)

[inline, inherited]

Definition at line 448 of file point_cloud.h.

const_iterator pcl::PointCloud< PointWithRange >::end

(

)

const [inline, inherited]

Definition at line 450 of file point_cloud.h.

iterator pcl::PointCloud< PointWithRange >::erase

(

iterator

position

)

[inline, inherited]

Erase a point in the cloud.

Note:

This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]

position

what data point to erase

Returns:

returns the new position iterator

Definition at line 541 of file point_cloud.h.

iterator pcl::PointCloud< PointWithRange >::erase	(	iterator	first,
		iterator	last
	)		[inline, inherited]

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

Note:

This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	first	where to start erasing points from
[in]	last	where to stop erasing points from

Returns:

returns the new position iterator

Definition at line 556 of file point_cloud.h.

static PCL_EXPORTS void pcl::RangeImage::extractFarRanges	(	const sensor_msgs::PointCloud2 &	point_cloud_data,
		PointCloud< PointWithViewpoint > &	far_ranges
	)		[static, inherited]

Check if the provided data includes far ranges and add them to far_ranges.

Parameters:

point_cloud_data	a PointCloud2 message containing the input cloud
far_ranges	the resulting cloud containing those points with far ranges

const PointWithRange & pcl::PointCloud< PointWithRange >::front

(

)

const [inline, inherited]

Definition at line 475 of file point_cloud.h.

PointWithRange & pcl::PointCloud< PointWithRange >::front

(

)

[inline, inherited]

Definition at line 476 of file point_cloud.h.

void pcl::RangeImage::get1dPointAverage	(	int	x,
		int	y,
		int	delta_x,
		int	delta_y,
		int	no_of_points,
		PointWithRange &	average_point
	)		const [inline, inherited]

Calculates the average 3D position of the no_of_points points described by the start point x,y in the direction delta.

Returns a max range point (range=INFINITY) if the first point is max range and an unobserved point (range=-INFINITY) if non of the points is observed.

Definition at line 796 of file range_image.hpp.

float pcl::RangeImage::getAcutenessValue	(	const PointWithRange &	point1,
		const PointWithRange &	point2
	)		const [inline, inherited]

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.

Definition at line 646 of file range_image.hpp.

float pcl::RangeImage::getAcutenessValue	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const [inline, inherited]

Same as above.

Definition at line 661 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getAcutenessValueImages	(	int	pixel_distance,
		float *&	acuteness_value_image_x,
		float *&	acuteness_value_image_y
	)		const [inherited]

Calculate getAcutenessValue for every point.

void pcl::RangeImage::getAnglesFromImagePoint	(	float	image_x,
		float	image_y,
		float &	angle_x,
		float &	angle_y
	)		const [inline, inherited]

Get the angles corresponding to the given image point.

Definition at line 596 of file range_image.hpp.

float pcl::RangeImage::getAngularResolution

(

)

const [inline, inherited]

Getter for the angular resolution of the range image in x direction in radians per pixel.

Provided for downwards compatability

Definition at line 355 of file range_image.h.

void pcl::RangeImage::getAngularResolution	(	float &	angular_resolution_x,
		float &	angular_resolution_y
	)		const [inline, inherited]

Getter for the angular resolution of the range image in x and y direction (in radians).

Definition at line 1206 of file range_image.hpp.

float pcl::RangeImage::getAngularResolutionX

(

)

const [inline, inherited]

Getter for the angular resolution of the range image in x direction in radians per pixel.

Definition at line 359 of file range_image.h.

float pcl::RangeImage::getAngularResolutionY

(

)

const [inline, inherited]

Getter for the angular resolution of the range image in y direction in radians per pixel.

Definition at line 363 of file range_image.h.

float pcl::RangeImage::getAverageEuclideanDistance	(	int	x,
		int	y,
		int	offset_x,
		int	offset_y,
		int	max_steps
	)		const [inline, inherited]

Doing the above for some steps in the given direction and averaging.

Definition at line 851 of file range_image.hpp.

template<typename PointCloudTypeWithViewpoints >

Eigen::Vector3f pcl::RangeImage::getAverageViewPoint

(

const PointCloudTypeWithViewpoints &

point_cloud

)

[static, inherited]

Get the average viewpoint of a point cloud where each point carries viewpoint information as vp_x, vp_y, vp_z.

Parameters:

point_cloud

the input point cloud

Returns:

the average viewpoint (as an Eigen::Vector3f)

Definition at line 1119 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getBlurredImage	(	int	blur_radius,
		RangeImage &	range_image
	)		const [inherited]

Get a blurred version of the range image using box filters.

PCL_EXPORTS void pcl::RangeImage::getBlurredImageUsingIntegralImage	(	int	blur_radius,
		float *	integral_image,
		int *	valid_points_num_image,
		RangeImage &	range_image
	)		const [inherited]

Get a blurred version of the range image using box filters on the provided integral image.

static PCL_EXPORTS void pcl::RangeImage::getCoordinateFrameTransformation	(	RangeImage::CoordinateFrame	coordinate_frame,
		Eigen::Affine3f &	transformation
	)		[static, inherited]

Get the transformation that transforms the given coordinate frame into CAMERA_FRAME.

Parameters:

coordinate_frame	the input coordinate frame
transformation	the resulting transformation that warps coordinate_frame into CAMERA_FRAME

float pcl::RangeImage::getCurvature	(	int	x,
		int	y,
		int	radius,
		int	step_size
	)		const [inline, inherited]

Calculates the curvature in a point using pca.

Definition at line 1094 of file range_image.hpp.

Eigen::Vector3f pcl::RangeImage::getEigenVector3f

(

const PointWithRange &

point

)

[inline, static, inherited]

Get Eigen::Vector3f from PointWithRange.

Parameters:

point

the input point

Returns:

an Eigen::Vector3f representation of the input point

Definition at line 789 of file range_image.hpp.

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f	(	int	x,
		int	y
	)		const [inline, inherited]

Same as above.

Definition at line 544 of file range_image.hpp.

const Eigen::Map< const Eigen::Vector3f > pcl::RangeImage::getEigenVector3f

(

int

index

)

const [inline, inherited]

Same as above.

Definition at line 551 of file range_image.hpp.

float pcl::RangeImage::getEuclideanDistanceSquared	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const [inline, inherited]

Get the squared euclidean distance between the two image points.

Returns -INFINITY if one of the points was not observed

Definition at line 836 of file range_image.hpp.

virtual PCL_EXPORTS void pcl::RangeImagePlanar::getHalfImage

(

RangeImage &

half_image

)

const [virtual]

Get a range image with half the resolution.

Reimplemented from pcl::RangeImage.

int pcl::RangeImage::getImageOffsetX

(

)

const [inline, inherited]

Getter for image_offset_x_.

Definition at line 633 of file range_image.h.

int pcl::RangeImage::getImageOffsetY

(

)

const [inline, inherited]

Getter for image_offset_y_.

Definition at line 636 of file range_image.h.

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

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 99 of file range_image_planar.hpp.

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		int &	image_x,
		int &	image_y,
		float &	range
	)		const [inline, inherited]

Same as above.

Definition at line 360 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		float &	image_x,
		float &	image_y
	)		const [inline, inherited]

Same as above.

Definition at line 368 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	const Eigen::Vector3f &	point,
		int &	image_x,
		int &	image_y
	)		const [inline, inherited]

Same as above.

Definition at line 376 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		float &	image_x,
		float &	image_y,
		float &	range
	)		const [inline, inherited]

Same as above.

Definition at line 321 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		float &	image_x,
		float &	image_y
	)		const [inline, inherited]

Same as above.

Definition at line 329 of file range_image.hpp.

void pcl::RangeImage::getImagePoint	(	float	x,
		float	y,
		float	z,
		int &	image_x,
		int &	image_y
	)		const [inline, inherited]

Same as above.

Definition at line 337 of file range_image.hpp.

void pcl::RangeImage::getImagePointFromAngles	(	float	angle_x,
		float	angle_y,
		float &	image_x,
		float &	image_y
	)		const [inline, inherited]

Get the image point corresponding to the given angles.

Definition at line 419 of file range_image.hpp.

float pcl::RangeImage::getImpactAngle	(	const PointWithRange &	point1,
		const PointWithRange &	point2
	)		const [inline, inherited]

Calculate the impact angle based on the sensor position and the two given points - will return.

-INFINITY if one of the points is unobserved

Definition at line 614 of file range_image.hpp.

float pcl::RangeImage::getImpactAngle	(	int	x1,
		int	y1,
		int	x2,
		int	y2
	)		const [inline, inherited]

Same as above.

Definition at line 605 of file range_image.hpp.

float pcl::RangeImage::getImpactAngleBasedOnLocalNormal	(	int	x,
		int	y,
		int	radius
	)		const [inline, inherited]

Extract a local normal (with a heuristic not to include background points) and calculate the impact angle based on this.

Definition at line 879 of file range_image.hpp.

PCL_EXPORTS float* pcl::RangeImage::getImpactAngleImageBasedOnLocalNormals

(

int

radius

)

const [inherited]

Uses the above function for every point in the image.

PCL_EXPORTS void pcl::RangeImage::getIntegralImage	(	float *&	integral_image,
		int *&	valid_points_num_image
	)		const [inherited]

Get the integral image of the range values (used for fast blur operations).

You are responsible for deleting it after usage!

PCL_EXPORTS float* pcl::RangeImage::getInterpolatedSurfaceProjection	(	const Eigen::Affine3f &	pose,
		int	pixel_size,
		float	world_size
	)		const [inherited]

Calculate a range patch as the z values of the coordinate frame given by pose.

The patch will have size pixel_size x pixel_size and each pixel covers world_size/pixel_size meters in the world You are responsible for deleting the structure afterwards!

PCL_EXPORTS float* pcl::RangeImage::getInterpolatedSurfaceProjection	(	const Eigen::Vector3f &	point,
		int	pixel_size,
		float	world_size
	)		const [inherited]

Same as above, but using the local coordinate frame defined by point and the viewing direction.

Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointWithRange >::getMatrixXfMap	(	int	dim,
		int	stride,
		int	offset
	)		[inline, inherited]

Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.

Note:

This method is for advanced users only! Use with care!

Attention:

Since 1.4.0, Eigen matrices are forced to Row Major to increase the efficiency of the algorithms in PCL This means that the behavior of getMatrixXfMap changed, and is now correctly mapping 1-1 with a PointCloud structure, that is: number of points in a cloud = rows in a matrix, number of point dimensions = columns in a matrix

Parameters:

[in]	dim	the number of dimensions to consider for each point
[in]	stride	the number of values in each point (will be the number of values that separate two of the columns)
[in]	offset	the number of dimensions to skip from the beginning of each point (stride = offset + dim + x, where x is the number of dimensions to skip from the end of each point)

Note:

for getting only XYZ coordinates out of PointXYZ use dim=3, stride=4 and offset=0 due to the alignment.

Attention:

PointT types are most of the time aligned, so the offsets are not continuous!

Definition at line 364 of file point_cloud.h.

const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointWithRange >::getMatrixXfMap	(	int	dim,
		int	stride,
		int	offset
	)		const [inline, inherited]

Return an Eigen MatrixXf (assumes float values) mapped to the specified dimensions of the PointCloud.

Note:

This method is for advanced users only! Use with care!

Attention:

Since 1.4.0, Eigen matrices are forced to Row Major to increase the efficiency of the algorithms in PCL This means that the behavior of getMatrixXfMap changed, and is now correctly mapping 1-1 with a PointCloud structure, that is: number of points in a cloud = rows in a matrix, number of point dimensions = columns in a matrix

Parameters:

[in]	dim	the number of dimensions to consider for each point
[in]	stride	the number of values in each point (will be the number of values that separate two of the columns)
[in]	offset	the number of dimensions to skip from the beginning of each point (stride = offset + dim + x, where x is the number of dimensions to skip from the end of each point)

Note:

for getting only XYZ coordinates out of PointXYZ use dim=3, stride=4 and offset=0 due to the alignment.

Attention:

PointT types are most of the time aligned, so the offsets are not continuous!

Definition at line 388 of file point_cloud.h.

Eigen::Map<Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointWithRange >::getMatrixXfMap

(

)

[inline, inherited]

Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.

Note:

This method is for advanced users only! Use with care!

Attention:

PointT types are most of the time aligned, so the offsets are not continuous! See getMatrixXfMap for more information.

Definition at line 403 of file point_cloud.h.

const Eigen::Map<const Eigen::MatrixXf, Eigen::Aligned, Eigen::OuterStride<> > pcl::PointCloud< PointWithRange >::getMatrixXfMap

(

)

const [inline, inherited]

Return an Eigen MatrixXf (assumes float values) mapped to the PointCloud.

Note:

This method is for advanced users only! Use with care!

Attention:

PointT types are most of the time aligned, so the offsets are not continuous! See getMatrixXfMap for more information.

Definition at line 414 of file point_cloud.h.

float pcl::RangeImage::getMaxAngleSize	(	const Eigen::Affine3f &	viewer_pose,
		const Eigen::Vector3f &	center,
		float	radius
	)		[inline, static, inherited]

Get the size of a certain area when seen from the given pose.

Parameters:

viewer_pose	an affine matrix defining the pose of the viewer
center	the center of the area
radius	the radius of the area

Returns:

the size of the area as viewed according to viewer_pose

Definition at line 782 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getMinMaxRanges	(	float &	min_range,
		float &	max_range
	)		const [inherited]

Find the minimum and maximum range in the image.

virtual RangeImage* pcl::RangeImagePlanar::getNew

(

)

const [inline, virtual]

Return a newly created RangeImagePlanar.

Reimplmentation to return an image of the same type.

Reimplemented from pcl::RangeImage.

Definition at line 66 of file range_image_planar.h.

bool pcl::RangeImage::getNormal	(	int	x,
		int	y,
		int	radius,
		Eigen::Vector3f &	normal,
		int	step_size = 1
	)		const [inline, inherited]

Calculate the normal of an image point using the neighbors with a maximum pixel distance of radius.

step_size determines how many pixels are used. 1 means all, 2 only every second, etc.. Returns false if it was unable to calculate a normal.

Definition at line 894 of file range_image.hpp.

float pcl::RangeImage::getNormalBasedAcutenessValue	(	int	x,
		int	y,
		int	radius
	)		const [inline, inherited]

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.

Definition at line 920 of file range_image.hpp.

PCL_EXPORTS bool pcl::RangeImage::getNormalBasedUprightTransformation	(	const Eigen::Vector3f &	point,
		float	max_dist,
		Eigen::Affine3f &	transformation
	)		const [inherited]

Get a local coordinate frame at the given point based on the normal.

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		int	radius,
		const PointWithRange &	point,
		int	no_of_nearest_neighbors,
		Eigen::Vector3f &	normal,
		int	step_size = 1
	)		const [inline, inherited]

Same as above, but only the no_of_nearest_neighbors points closest to the given point are considered.

Definition at line 932 of file range_image.hpp.

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		int	radius,
		const Eigen::Vector3f &	point,
		int	no_of_nearest_neighbors,
		Eigen::Vector3f &	normal,
		Eigen::Vector3f *	point_on_plane = NULL,
		int	step_size = 1
	)		const [inline, inherited]

Same as above.

Definition at line 1075 of file range_image.hpp.

bool pcl::RangeImage::getNormalForClosestNeighbors	(	int	x,
		int	y,
		Eigen::Vector3f &	normal,
		int	radius = 2
	)		const [inline, inherited]

Same as above, using default values.

Definition at line 940 of file range_image.hpp.

PCL_EXPORTS float pcl::RangeImage::getOverlap	(	const RangeImage &	other_range_image,
		const Eigen::Affine3f &	relative_transformation,
		int	search_radius,
		float	max_distance,
		int	pixel_step = 1
	)		const [inherited]

Calculates the overlap of two range images given the relative transformation (from the given image to *this)

const PointWithRange & pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y
	)		const [inline, inherited]

Return the 3D point with range at the given image position.

Parameters:

image_x	the x coordinate
image_y	the y coordinate

Returns:

the point at the specified location (returns unobserved_point if outside of the image bounds)

Definition at line 473 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y
	)		[inline, inherited]

Non-const-version of getPoint.

Definition at line 496 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPoint	(	float	image_x,
		float	image_y
	)		const [inline, inherited]

Return the 3d point with range at the given image position.

Definition at line 511 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPoint	(	float	image_x,
		float	image_y
	)		[inline, inherited]

Non-const-version of the above.

Definition at line 520 of file range_image.hpp.

void pcl::RangeImage::getPoint	(	int	image_x,
		int	image_y,
		Eigen::Vector3f &	point
	)		const [inline, inherited]

Same as above.

Definition at line 529 of file range_image.hpp.

void pcl::RangeImage::getPoint	(	int	index,
		Eigen::Vector3f &	point
	)		const [inline, inherited]

Same as above.

Definition at line 537 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPoint

(

int

index

)

const [inline, inherited]

Return the 3d point with range at the given index (whereas index=y*width+x)

Definition at line 504 of file range_image.hpp.

const PointWithRange & pcl::RangeImage::getPointNoCheck	(	int	image_x,
		int	image_y
	)		const [inline, inherited]

Return the 3D point with range at the given image position.

This methd performs no error checking to make sure the specified image position is inside of the image!

Parameters:

image_x	the x coordinate
image_y	the y coordinate

Returns:

the point at the specified location (program may fail if the location is outside of the image bounds)

Definition at line 482 of file range_image.hpp.

PointWithRange & pcl::RangeImage::getPointNoCheck	(	int	image_x,
		int	image_y
	)		[inline, inherited]

Non-const-version of getPointNoCheck.

Definition at line 489 of file range_image.hpp.

float pcl::RangeImage::getRangeDifference

(

const Eigen::Vector3f &

point

)

const [inline, inherited]

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.

(Return value is point_in_image.range-given_point.range)

Definition at line 399 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getRangeImageWithSmoothedSurface	(	int	radius,
		RangeImage &	smoothed_range_image
	)		const [inherited]

Project all points on the local plane approximation, thereby smoothing the surface of the scan.

PCL_EXPORTS float* pcl::RangeImage::getRangesArray

(

)

const [inherited]

Get all the range values in one float array of size width*height.

Returns:

a pointer to a new float array containing the range values

Note:

This method allocates a new float array; the caller is responsible for freeing this memory.

void pcl::RangeImage::getRotationToViewerCoordinateFrame	(	const Eigen::Vector3f &	point,
		Eigen::Affine3f &	transformation
	)		const [inline, inherited]

Same as above, but only returning the rotation.

Definition at line 1174 of file range_image.hpp.

const Eigen::Vector3f pcl::RangeImage::getSensorPos

(

)

const [inline, inherited]

Get the sensor position.

Definition at line 670 of file range_image.hpp.

float pcl::RangeImage::getSquaredDistanceOfNthNeighbor	(	int	x,
		int	y,
		int	radius,
		int	n,
		int	step_size
	)		const [inline, inherited]

Definition at line 1046 of file range_image.hpp.

virtual 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 [virtual]

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.

void pcl::RangeImage::getSurfaceAngleChange	(	int	x,
		int	y,
		int	radius,
		float &	angle_change_x,
		float &	angle_change_y
	)		const [inline, inherited]

Calculates, how much the surface changes at a point.

Returns an angle [0.0f, PI] for x and y direction. A return value of -INFINITY means that a point was unobserved.

Definition at line 677 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::getSurfaceAngleChangeImages	(	int	radius,
		float *&	angle_change_image_x,
		float *&	angle_change_image_y
	)		const [inherited]

Uses the above function for every point in the image.

PCL_EXPORTS float pcl::RangeImage::getSurfaceChange	(	int	x,
		int	y,
		int	radius
	)		const [inherited]

Calculates, how much the surface changes at a point.

Pi meaning a flat suface and 0.0f would be a needle point Calculates, how much the surface changes at a point. 1 meaning a 90deg angle and 0 a flat suface

PCL_EXPORTS float* pcl::RangeImage::getSurfaceChangeImage

(

int

radius

)

const [inherited]

Uses the above function for every point in the image.

bool pcl::RangeImage::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 = NULL,
		Eigen::Vector3f *	mean_all_neighbors = NULL,
		Eigen::Vector3f *	eigen_values_all_neighbors = NULL
	)		const [inline, inherited]

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.

Definition at line 960 of file range_image.hpp.

const Eigen::Affine3f& pcl::RangeImage::getTransformationToRangeImageSystem

(

)

const [inline, inherited]

Getter for the transformation from the world system into the range image system (the sensor coordinate frame)

Definition at line 340 of file range_image.h.

Eigen::Affine3f pcl::RangeImage::getTransformationToViewerCoordinateFrame

(

const Eigen::Vector3f &

point

)

const [inline, inherited]

Get the local coordinate frame with 0,0,0 in point, upright and Z as the viewing direction.

Definition at line 1157 of file range_image.hpp.

void pcl::RangeImage::getTransformationToViewerCoordinateFrame	(	const Eigen::Vector3f &	point,
		Eigen::Affine3f &	transformation
	)		const [inline, inherited]

Same as above, using a reference for the retrurn value.

Definition at line 1166 of file range_image.hpp.

const Eigen::Affine3f& pcl::RangeImage::getTransformationToWorldSystem

(

)

const [inline, inherited]

Getter for the transformation from the range image system (the sensor coordinate frame) into the world system.

Definition at line 350 of file range_image.h.

bool pcl::RangeImage::getViewingDirection	(	int	x,
		int	y,
		Eigen::Vector3f &	viewing_direction
	)		const [inline, inherited]

Get the viewing direction for the given point.

Definition at line 1140 of file range_image.hpp.

void pcl::RangeImage::getViewingDirection	(	const Eigen::Vector3f &	point,
		Eigen::Vector3f &	viewing_direction
	)		const [inline, inherited]

Get the viewing direction for the given point.

Definition at line 1150 of file range_image.hpp.

iterator pcl::PointCloud< PointWithRange >::insert	(	iterator	position,
		const PointWithRange &	pt
	)		[inline, inherited]

Insert a new point in the cloud, given an iterator.

Note:

This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	position	where to insert the point
[in]	pt	the point to insert

Returns:

returns the new position iterator

Definition at line 499 of file point_cloud.h.

void pcl::PointCloud< PointWithRange >::insert	(	iterator	position,
		size_t	n,
		const PointWithRange &	pt
	)		[inline, inherited]

Insert a new point in the cloud N times, given an iterator.

Note:

This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	position	where to insert the point
[in]	n	the number of times to insert the point
[in]	pt	the point to insert

Definition at line 514 of file point_cloud.h.

void pcl::PointCloud< PointWithRange >::insert	(	iterator	position,
		InputIterator	first,
		InputIterator	last
	)		[inline, inherited]

Insert a new range of points in the cloud, at a certain position.

Note:

This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]	position	where to insert the data
[in]	first	where to start inserting the points from
[in]	last	where to stop inserting the points from

Definition at line 528 of file point_cloud.h.

PCL_EXPORTS void pcl::RangeImage::integrateFarRanges

(

const PointCloud< PointWithViewpoint > &

far_ranges

)

[inherited]

Integrates the given far range measurements into the range image.

bool pcl::RangeImage::isInImage	(	int	x,
		int	y
	)		const [inline, inherited]

Check if a point is inside of the image.

Definition at line 435 of file range_image.hpp.

bool pcl::RangeImage::isMaxRange	(	int	x,
		int	y
	)		const [inline, inherited]

Check if a point is a max range (range=INFINITY) - please check isInImage or isObserved first!

Definition at line 465 of file range_image.hpp.

bool pcl::RangeImage::isObserved	(	int	x,
		int	y
	)		const [inline, inherited]

Check if a point is inside of the image and has either a finite range or a max reading (range=INFINITY)

Definition at line 456 of file range_image.hpp.

bool pcl::PointCloud< PointWithRange >::isOrganized

(

)

const [inline, inherited]

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

Note:

The height value must be different than 1 for a dataset to be organized.

Definition at line 342 of file point_cloud.h.

bool pcl::RangeImage::isValid	(	int	x,
		int	y
	)		const [inline, inherited]

Check if a point is inside of the image and has a finite range.

Definition at line 442 of file range_image.hpp.

bool pcl::RangeImage::isValid

(

int

index

)

const [inline, inherited]

Check if a point has a finite range.

Definition at line 449 of file range_image.hpp.

Ptr pcl::RangeImagePlanar::makeShared

(

)

[inline]

Get a boost shared pointer of a copy of this.

Reimplemented from pcl::RangeImage.

Definition at line 71 of file range_image_planar.h.

Ptr pcl::PointCloud< PointWithRange >::makeShared

(

)

const [inline, inherited]

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.

The changes of the returned cloud are not mirrored back to this one.

Returns:

shared pointer to the copy of the cloud

Definition at line 593 of file point_cloud.h.

const PointWithRange & pcl::PointCloud< PointWithRange >::operator()	(	size_t	column,
		size_t	row
	)		const [inline, inherited]

Obtain the point given by the (column, row) coordinates.

Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 321 of file point_cloud.h.

PointWithRange & pcl::PointCloud< PointWithRange >::operator()	(	size_t	column,
		size_t	row
	)		[inline, inherited]

Obtain the point given by the (column, row) coordinates.

Only works on organized datasets (those that have height != 1).

Parameters:

[in]	column	the column coordinate
[in]	row	the row coordinate

Definition at line 332 of file point_cloud.h.

const PointCloud pcl::PointCloud< PointWithRange >::operator+

(

const PointCloud< PointWithRange > &

rhs

)

[inline, inherited]

Add a point cloud to another cloud.

Parameters:

[in]

rhs

the cloud to add to the current cloud

Returns:

the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 280 of file point_cloud.h.

PointCloud& pcl::PointCloud< PointWithRange >::operator+=

(

const PointCloud< PointWithRange > &

rhs

)

[inline, inherited]

Add a point cloud to the current cloud.

Parameters:

[in]

rhs

the cloud to add to the current cloud

Returns:

the new cloud as a concatenation of the current cloud and the new given cloud

Definition at line 254 of file point_cloud.h.

const PointWithRange & pcl::PointCloud< PointWithRange >::operator[]

(

size_t

n

)

const [inline, inherited]

Definition at line 471 of file point_cloud.h.

PointWithRange & pcl::PointCloud< PointWithRange >::operator[]

(

size_t

n

)

[inline, inherited]

Definition at line 472 of file point_cloud.h.

void pcl::PointCloud< PointWithRange >::push_back

(

const PointWithRange &

pt

)

[inline, inherited]

Insert a new point in the cloud, at the end of the container.

Note:

This breaks the organized structure of the cloud by setting the height to 1!

Parameters:

[in]

pt

the point to insert

Definition at line 485 of file point_cloud.h.

void pcl::RangeImage::real2DToInt2D	(	float	x,
		float	y,
		int &	xInt,
		int &	yInt
	)		const [inline, inherited]

Transforms an image point in float values to an image point in int values.

Definition at line 427 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::recalculate3DPointPositions

(

)

[inherited]

Recalculate all 3D point positions according to their pixel position and range.

void pcl::PointCloud< PointWithRange >::reserve

(

size_t

n

)

[inline, inherited]

Definition at line 454 of file point_cloud.h.

PCL_EXPORTS void pcl::RangeImage::reset

(

)

[inherited]

Reset all values to an empty range image.

void pcl::PointCloud< PointWithRange >::resize

(

size_t

n

)

[inline, inherited]

Resize the cloud.

Parameters:

[in]

n

the new cloud size

Definition at line 460 of file point_cloud.h.

void pcl::RangeImage::setAngularResolution

(

float

angular_resolution

)

[inline, inherited]

Set the angular resolution of the range image.

Parameters:

angular_resolution

the new angular resolution in x and y direction (in radians per pixel)

Definition at line 1182 of file range_image.hpp.

void pcl::RangeImage::setAngularResolution	(	float	angular_resolution_x,
		float	angular_resolution_y
	)		[inline, inherited]

Set the angular resolution of the range image.

Parameters:

angular_resolution_x	the new angular resolution in x direction (in radians per pixel)
angular_resolution_y	the new angular resolution in y direction (in radians per pixel)

Definition at line 1190 of file range_image.hpp.

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.

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.

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.

void pcl::RangeImage::setImageOffsets	(	int	offset_x,
		int	offset_y
	)		[inline, inherited]

Setter for image offsets.

Definition at line 640 of file range_image.h.

void pcl::RangeImage::setTransformationToRangeImageSystem

(

const Eigen::Affine3f &

to_range_image_system

)

[inline, inherited]

Setter for the transformation from the range image system (the sensor coordinate frame) into the world system.

Definition at line 1199 of file range_image.hpp.

PCL_EXPORTS void pcl::RangeImage::setUnseenToMaxRange

(

)

[inherited]

Sets all -INFINITY values to INFINITY.

size_t pcl::PointCloud< PointWithRange >::size

(

)

const [inline, inherited]

Definition at line 453 of file point_cloud.h.

void pcl::PointCloud< PointWithRange >::swap

(

PointCloud< PointWithRange > &

rhs

)

[inline, inherited]

Swap a point cloud with another cloud.

Parameters:

[in,out]

rhs

point cloud to swap this with

Definition at line 568 of file point_cloud.h.

---

Member Data Documentation

bool pcl::RangeImage::debug [static, inherited]

Just for...

well... debugging purposes. :-)

Definition at line 763 of file range_image.h.

std_msgs::Header pcl::PointCloud< PointWithRange >::header [inherited]

The point cloud header.

It contains information about the acquisition time.

Definition at line 420 of file point_cloud.h.

uint32_t pcl::PointCloud< PointWithRange >::height [inherited]

The point cloud height (if organized as an image-structure).

Definition at line 428 of file point_cloud.h.

bool pcl::PointCloud< PointWithRange >::is_dense [inherited]

True if no points are invalid (e.g., have NaN or Inf values).

Definition at line 431 of file point_cloud.h.

int pcl::RangeImage::max_no_of_threads [static, inherited]

The maximum number of openmp threads that can be used in this class.

Definition at line 79 of file range_image.h.

std::vector<PointWithRange , Eigen::aligned_allocator<PointWithRange > > pcl::PointCloud< PointWithRange >::points [inherited]

The point data.

Definition at line 423 of file point_cloud.h.

Eigen::Quaternionf pcl::PointCloud< PointWithRange >::sensor_orientation_ [inherited]

Sensor acquisition pose (rotation).

Definition at line 436 of file point_cloud.h.

Eigen::Vector4f pcl::PointCloud< PointWithRange >::sensor_origin_ [inherited]

Sensor acquisition pose (origin/translation).

Definition at line 434 of file point_cloud.h.

uint32_t pcl::PointCloud< PointWithRange >::width [inherited]

The point cloud width (if organized as an image-structure).

Definition at line 426 of file point_cloud.h.

---

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

• /usr/src/RPM/BUILD/PCL-1.6.0-Source/common/include/pcl/range_image/range_image_planar.h
• /usr/src/RPM/BUILD/PCL-1.6.0-Source/common/include/pcl/range_image/impl/range_image_planar.hpp