Compute point cloud from the disparity map. More...

#include <pcl/stereo/disparity_map_converter.h>

Inheritance diagram for pcl::DisparityMapConverter< PointT >:

Collaboration diagram for pcl::DisparityMapConverter< PointT >:

Public Member Functions
	DisparityMapConverter ()
	DisparityMapConverter constructor.
virtual	~DisparityMapConverter ()
	Empty destructor.
void	setImageCenterX (const float center_x)
	Set x-coordinate of the image center.
float	getImageCenterX () const
	Get x-coordinate of the image center.
void	setImageCenterY (const float center_y)
	Set y-coordinate of the image center.
float	getImageCenterY () const
	Get y-coordinate of the image center.
void	setFocalLength (const float focal_length)
	Set focal length.
float	getFocalLength () const
	Get focal length.
void	setBaseline (const float baseline)
	Set baseline.
float	getBaseline () const
	Get baseline.
void	setDisparityThresholdMin (const float disparity_threshold_min)
	Set min disparity threshold.
float	getDisparityThresholdMin () const
	Get min disparity threshold.
void	setDisparityThresholdMax (const float disparity_threshold_max)
	Set max disparity threshold.
float	getDisparityThresholdMax () const
	Get max disparity threshold.
void	setImage (const pcl::PointCloud< pcl::RGB >::ConstPtr &image)
	Set an image, that will be used for coloring of the output cloud.
pcl::PointCloud< RGB >::Ptr	getImage ()
	Get the image, that is used for coloring of the output cloud.
bool	loadDisparityMap (const std::string &file_name)
	Load the disparity map.
bool	loadDisparityMap (const std::string &file_name, const std::size_t width, const std::size_t height)
	Load the disparity map and initialize it's size.
void	setDisparityMap (const std::vector< float > &disparity_map)
	Set the disparity map.
void	setDisparityMap (const std::vector< float > &disparity_map, const std::size_t width, const std::size_t height)
	Set the disparity map and initialize it's size.
std::vector< float >	getDisparityMap ()
	Get the disparity map.
virtual void	compute (PointCloud &out_cloud)
	Compute the output cloud.

Protected Types
using	PointCloud = pcl::PointCloud<PointT>

Protected Member Functions
PointXYZ	translateCoordinates (std::size_t row, std::size_t column, float disparity) const
	Translate point from image coordinates and disparity to 3D-coordinates.

Protected Attributes
float	center_x_ {0.0f}
	X-coordinate of the image center.
float	center_y_ {0.0f}
	Y-coordinate of the image center.
float	focal_length_ {0.0f}
	Focal length.
float	baseline_ {0.0f}
	Baseline.
bool	is_color_ {false}
	Is color image is set.
pcl::PointCloud< pcl::RGB >::ConstPtr	image_
	Color image of the scene.
std::vector< float >	disparity_map_
	Vector for the disparity map.
std::size_t	disparity_map_width_ {640}
	X-size of the disparity map.
std::size_t	disparity_map_height_ {480}
	Y-size of the disparity map.
float	disparity_threshold_min_ {0.0f}
	Thresholds of the disparity.
float	disparity_threshold_max_

Detailed Description

template<typename PointT>
class pcl::DisparityMapConverter< PointT >

Compute point cloud from the disparity map.

Example of usage:

pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new
  pcl::PointCloud<pcl::PointXYZI>);
pcl::PointCloud<pcl::RGB>::Ptr left_image (new
  pcl::PointCloud<pcl::RGB>);
// Fill left image cloud.
 
pcl::DisparityMapConverter<pcl::PointXYZI> dmc;
dmc.setBaseline (0.8387445f);
dmc.setFocalLength (368.534700f);
dmc.setImageCenterX (318.112200f);
dmc.setImageCenterY (224.334900f);
dmc.setDisparityThresholdMin(15.0f);
 
// Left view of the scene.
dmc.setImage (left_image);
// Disparity map of the scene.
dmc.loadDisparityMap ("disparity_map.txt", 640, 480);
 
dmc.compute(*cloud);

Author: Timur Ibadov (ibado.nosp@m.v.ti.nosp@m.mur@g.nosp@m.mail.nosp@m..com)

Definition at line 77 of file disparity_map_converter.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT>

using pcl::DisparityMapConverter< PointT >::PointCloud = pcl::PointCloud<PointT>

protected

Definition at line 79 of file disparity_map_converter.h.

Constructor & Destructor Documentation

◆ DisparityMapConverter()

template<typename PointT>

pcl::DisparityMapConverter< PointT >::DisparityMapConverter ( )

DisparityMapConverter constructor.

Definition at line 49 of file disparity_map_converter.hpp.

References disparity_threshold_max_.

◆ ~DisparityMapConverter()

template<typename PointT>

pcl::DisparityMapConverter< PointT >::~DisparityMapConverter ( )

virtualdefault

Empty destructor.

Member Function Documentation

◆ compute()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::compute ( PointCloud & out_cloud )

virtual

Compute the output cloud.

Parameters

[out] out_cloud the variable to return the resulting cloud.

Definition at line 238 of file disparity_map_converter.hpp.

References pcl::PointCloud< PointT >::clear(), disparity_map_, disparity_map_height_, disparity_map_width_, disparity_threshold_max_, disparity_threshold_min_, pcl::PointCloud< PointT >::height, image_, is_color_, pcl::PointCloud< PointT >::resize(), pcl::common::IntensityFieldAccessor< PointT >::set(), translateCoordinates(), and pcl::PointCloud< PointT >::width.

◆ getBaseline()

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::getBaseline ( ) const

inline

Get baseline.

Returns: the baseline.

Definition at line 107 of file disparity_map_converter.hpp.

References baseline_.

◆ getDisparityMap()

template<typename PointT>

std::vector< float > pcl::DisparityMapConverter< PointT >::getDisparityMap ( )

Get the disparity map.

Returns: the disparity map.

Definition at line 231 of file disparity_map_converter.hpp.

References disparity_map_.

◆ getDisparityThresholdMax()

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::getDisparityThresholdMax ( ) const

inline

Get max disparity threshold.

Returns: max disparity threshold.

Definition at line 137 of file disparity_map_converter.hpp.

References disparity_threshold_max_.

◆ getDisparityThresholdMin()

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::getDisparityThresholdMin ( ) const

inline

Get min disparity threshold.

Returns: min disparity threshold.

Definition at line 122 of file disparity_map_converter.hpp.

References disparity_threshold_min_.

◆ getFocalLength()

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::getFocalLength ( ) const

inline

Get focal length.

Returns: the focal length.

Definition at line 93 of file disparity_map_converter.hpp.

References focal_length_.

◆ getImage()

template<typename PointT>

pcl::PointCloud< pcl::RGB >::Ptr pcl::DisparityMapConverter< PointT >::getImage ( )

Get the image, that is used for coloring of the output cloud.

Returns: the image.

Definition at line 158 of file disparity_map_converter.hpp.

◆ getImageCenterX()

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::getImageCenterX ( ) const

inline

Get x-coordinate of the image center.

Returns: x-coordinate of the image center.

Definition at line 65 of file disparity_map_converter.hpp.

References center_x_.

◆ getImageCenterY()

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::getImageCenterY ( ) const

inline

Get y-coordinate of the image center.

Returns: y-coordinate of the image center.

Definition at line 79 of file disparity_map_converter.hpp.

References center_y_.

◆ loadDisparityMap() [1/2]

template<typename PointT>

bool pcl::DisparityMapConverter< PointT >::loadDisparityMap ( const std::string & file_name )

Load the disparity map.

Parameters

[in] file_name the name of the disparity map file.

Returns: "true" if the disparity map was successfully loaded; "false" otherwise

Definition at line 167 of file disparity_map_converter.hpp.

Referenced by loadDisparityMap().

◆ loadDisparityMap() [2/2]

template<typename PointT>

bool pcl::DisparityMapConverter< PointT >::loadDisparityMap	(	const std::string &	file_name,
		const std::size_t	width,
		const std::size_t	height )

Load the disparity map and initialize it's size.

Parameters

[in]	file_name	the name of the disparity map file.
[in]	width	width of the disparity map.
[in]	height	height of the disparity map.

Returns: "true" if the disparity map was successfully loaded; "false" otherwise

Definition at line 196 of file disparity_map_converter.hpp.

References disparity_map_height_, disparity_map_width_, and loadDisparityMap().

◆ setBaseline()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setBaseline ( const float baseline )

inline

Set baseline.

Parameters

[in] baseline baseline.

Definition at line 100 of file disparity_map_converter.hpp.

References baseline_.

◆ setDisparityMap() [1/2]

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setDisparityMap ( const std::vector< float > & disparity_map )

Set the disparity map.

Parameters

[in] disparity_map the disparity map.

Definition at line 210 of file disparity_map_converter.hpp.

◆ setDisparityMap() [2/2]

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setDisparityMap	(	const std::vector< float > &	disparity_map,
		const std::size_t	width,
		const std::size_t	height )

Set the disparity map and initialize it's size.

Parameters

[in]	disparity_map	the disparity map.
[in]	width	width of the disparity map.
[in]	height	height of the disparity map.

Returns: "true" if the disparity map was successfully loaded; "false" otherwise

Definition at line 218 of file disparity_map_converter.hpp.

References disparity_map_, disparity_map_height_, and disparity_map_width_.

◆ setDisparityThresholdMax()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setDisparityThresholdMax ( const float disparity_threshold_max )

inline

Set max disparity threshold.

Parameters

[in] disparity_threshold_max max disparity threshold.

Definition at line 129 of file disparity_map_converter.hpp.

References disparity_threshold_max_.

◆ setDisparityThresholdMin()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setDisparityThresholdMin ( const float disparity_threshold_min )

inline

Set min disparity threshold.

Parameters

[in] disparity_threshold_min min disparity threshold.

Definition at line 114 of file disparity_map_converter.hpp.

◆ setFocalLength()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setFocalLength ( const float focal_length )

inline

Set focal length.

Parameters

[in] focal_length the focal length.

Definition at line 86 of file disparity_map_converter.hpp.

References focal_length_.

◆ setImage()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setImage ( const pcl::PointCloud< pcl::RGB >::ConstPtr & image )

Set an image, that will be used for coloring of the output cloud.

Parameters

[in] image the image.

Definition at line 144 of file disparity_map_converter.hpp.

◆ setImageCenterX()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setImageCenterX ( const float center_x )

inline

Set x-coordinate of the image center.

Parameters

[in] center_x x-coordinate of the image center.

Definition at line 58 of file disparity_map_converter.hpp.

References center_x_.

◆ setImageCenterY()

template<typename PointT>

void pcl::DisparityMapConverter< PointT >::setImageCenterY ( const float center_y )

inline

Set y-coordinate of the image center.

Parameters

[in] center_y y-coordinate of the image center.

Definition at line 72 of file disparity_map_converter.hpp.

References center_y_.

◆ translateCoordinates()

template<typename PointT>

pcl::PointXYZ pcl::DisparityMapConverter< PointT >::translateCoordinates	(	std::size_t	row,
		std::size_t	column,
		float	disparity ) const

protected

Translate point from image coordinates and disparity to 3D-coordinates.

Parameters

[in]	row
[in]	column
[in]	disparity

Returns: the 3D point, that corresponds to the input parameters and the camera calibration.

Definition at line 295 of file disparity_map_converter.hpp.

References baseline_, center_x_, center_y_, and focal_length_.

Referenced by compute().

Member Data Documentation

◆ baseline_

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::baseline_ {0.0f}

protected

Baseline.

Definition at line 237 of file disparity_map_converter.h.

Referenced by getBaseline(), setBaseline(), and translateCoordinates().

◆ center_x_

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::center_x_ {0.0f}

protected

X-coordinate of the image center.

Definition at line 231 of file disparity_map_converter.h.

Referenced by getImageCenterX(), setImageCenterX(), and translateCoordinates().

◆ center_y_

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::center_y_ {0.0f}

protected

Y-coordinate of the image center.

Definition at line 233 of file disparity_map_converter.h.

Referenced by getImageCenterY(), setImageCenterY(), and translateCoordinates().

◆ disparity_map_

template<typename PointT>

std::vector<float> pcl::DisparityMapConverter< PointT >::disparity_map_

protected

Vector for the disparity map.

Definition at line 245 of file disparity_map_converter.h.

Referenced by compute(), getDisparityMap(), and setDisparityMap().

◆ disparity_map_height_

template<typename PointT>

std::size_t pcl::DisparityMapConverter< PointT >::disparity_map_height_ {480}

protected

Y-size of the disparity map.

Definition at line 249 of file disparity_map_converter.h.

Referenced by compute(), loadDisparityMap(), and setDisparityMap().

◆ disparity_map_width_

template<typename PointT>

std::size_t pcl::DisparityMapConverter< PointT >::disparity_map_width_ {640}

protected

X-size of the disparity map.

Definition at line 247 of file disparity_map_converter.h.

Referenced by compute(), loadDisparityMap(), and setDisparityMap().

◆ disparity_threshold_max_

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::disparity_threshold_max_

protected

Definition at line 253 of file disparity_map_converter.h.

Referenced by compute(), DisparityMapConverter(), getDisparityThresholdMax(), and setDisparityThresholdMax().

◆ disparity_threshold_min_

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::disparity_threshold_min_ {0.0f}

protected

Thresholds of the disparity.

Definition at line 252 of file disparity_map_converter.h.

Referenced by compute(), and getDisparityThresholdMin().

◆ focal_length_

template<typename PointT>

float pcl::DisparityMapConverter< PointT >::focal_length_ {0.0f}

protected

Focal length.

Definition at line 235 of file disparity_map_converter.h.

Referenced by getFocalLength(), setFocalLength(), and translateCoordinates().

◆ image_

template<typename PointT>

pcl::PointCloud<pcl::RGB>::ConstPtr pcl::DisparityMapConverter< PointT >::image_

protected

Color image of the scene.

Definition at line 242 of file disparity_map_converter.h.

Referenced by compute().

◆ is_color_

template<typename PointT>

bool pcl::DisparityMapConverter< PointT >::is_color_ {false}

protected

Is color image is set.

Definition at line 240 of file disparity_map_converter.h.

Referenced by compute().

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

pcl/stereo/disparity_map_converter.h
pcl/stereo/impl/disparity_map_converter.hpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ PointCloud

Constructor & Destructor Documentation

◆ DisparityMapConverter()

◆ ~DisparityMapConverter()

Member Function Documentation

◆ compute()

◆ getBaseline()

◆ getDisparityMap()

◆ getDisparityThresholdMax()

◆ getDisparityThresholdMin()

◆ getFocalLength()

◆ getImage()

◆ getImageCenterX()

◆ getImageCenterY()

◆ loadDisparityMap() [1/2]

◆ loadDisparityMap() [2/2]

◆ setBaseline()

◆ setDisparityMap() [1/2]

◆ setDisparityMap() [2/2]

◆ setDisparityThresholdMax()

◆ setDisparityThresholdMin()

◆ setFocalLength()

◆ setImage()

◆ setImageCenterX()

◆ setImageCenterY()

◆ translateCoordinates()

Member Data Documentation

◆ baseline_

◆ center_x_

◆ center_y_

◆ disparity_map_

◆ disparity_map_height_

◆ disparity_map_width_

◆ disparity_threshold_max_

◆ disparity_threshold_min_

◆ focal_length_

◆ image_

◆ is_color_