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digital_elevation_map.h
/*
* Software License Agreement (BSD License)
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* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2014-, Open Perception, Inc.
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#pragma once
#include <pcl/stereo/disparity_map_converter.h>
#include <pcl/point_types.h>
namespace pcl {
/** \brief Build a Digital Elevation Map in the column-disparity space from a disparity
* map and a color image of the scene.
*
* Example of usage:
*
* \code
* pcl::PointCloud<pcl::PointDEM>::Ptr cloud (new
* pcl::PointCloud<pcl::PointDEM>);
* pcl::PointCloud<pcl::RGB>::Ptr left_image (new
* pcl::PointCloud<pcl::RGB>);
* // Fill left image cloud.
*
* pcl::DigitalElevationMapBuilder demb;
* demb.setBaseline (0.8387445f);
* demb.setFocalLength (368.534700f);
* demb.setImageCenterX (318.112200f);
* demb.setImageCenterY (224.334900f);
* demb.setDisparityThresholdMin (15.0f);
* demb.setDisparityThresholdMax (80.0f);
* demb.setResolution (64, 32);
*
* // Left view of the scene.
* demb.loadImage (left_image);
* // Disparity map of the scene.
* demb.loadDisparityMap ("disparity_map.txt", 640, 480);
*
* demb.compute(*cloud);
* \endcode
*
* \author Timur Ibadov (ibadov.timur@gmail.com)
* \ingroup stereo
*/
class PCL_EXPORTS DigitalElevationMapBuilder : public DisparityMapConverter<PointDEM> {
public:
using DisparityMapConverter<PointDEM>::baseline_;
using DisparityMapConverter<PointDEM>::translateCoordinates;
using DisparityMapConverter<PointDEM>::image_;
using DisparityMapConverter<PointDEM>::disparity_map_;
using DisparityMapConverter<PointDEM>::disparity_map_width_;
using DisparityMapConverter<PointDEM>::disparity_map_height_;
using DisparityMapConverter<PointDEM>::disparity_threshold_min_;
using DisparityMapConverter<PointDEM>::disparity_threshold_max_;
/** \brief DigitalElevationMapBuilder constructor. */
DigitalElevationMapBuilder();
/** \brief Empty destructor. */
~DigitalElevationMapBuilder() override;
/** \brief Set resolution of the DEM.
* \param[in] resolution_column the column resolution.
* \param[in] resolution_disparity the disparity resolution.
*/
void
setResolution(std::size_t resolution_column, std::size_t resolution_disparity);
/** \brief Get column resolution of the DEM.
* \return column resolution of the DEM.
*/
std::size_t
getColumnResolution() const;
/** \brief Get disparity resolution of the DEM.
* \return disparity resolution of the DEM.
*/
std::size_t
getDisparityResolution() const;
/** \brief Set minimum amount of points in a DEM's cell.
* \param[in] min_points_in_cell minimum amount of points in a DEM's cell.
*/
void
setMinPointsInCell(std::size_t min_points_in_cell);
/** \brief Get minimum amount of points in a DEM's cell.
* \return minimum amount of points in a DEM's cell.
*/
std::size_t
getMinPointsInCell() const;
/** \brief Compute the Digital Elevation Map.
* \param[out] out_cloud the variable to return the resulting cloud.
*/
void
compute(pcl::PointCloud<PointDEM>& out_cloud) override;
protected:
/** \brief Column resolution of the DEM. */
std::size_t resolution_column_{64};
/** \brief disparity resolution of the DEM. */
std::size_t resolution_disparity_{32};
/** \brief Minimum amount of points in a DEM's cell. */
std::size_t min_points_in_cell_{1};
};
} // namespace pcl
pcl::DigitalElevationMapBuilder
Build a Digital Elevation Map in the column-disparity space from a disparity map and a color image of...
Definition digital_elevation_map.h:76
pcl::DigitalElevationMapBuilder::~DigitalElevationMapBuilder
~DigitalElevationMapBuilder() override
Empty destructor.
pcl::DigitalElevationMapBuilder::setResolution
void setResolution(std::size_t resolution_column, std::size_t resolution_disparity)
Set resolution of the DEM.
pcl::DigitalElevationMapBuilder::DigitalElevationMapBuilder
DigitalElevationMapBuilder()
DigitalElevationMapBuilder constructor.
pcl::DigitalElevationMapBuilder::getMinPointsInCell
std::size_t getMinPointsInCell() const
Get minimum amount of points in a DEM's cell.
pcl::DigitalElevationMapBuilder::getDisparityResolution
std::size_t getDisparityResolution() const
Get disparity resolution of the DEM.
pcl::DigitalElevationMapBuilder::compute
void compute(pcl::PointCloud< PointDEM > &out_cloud) override
Compute the Digital Elevation Map.
pcl::DigitalElevationMapBuilder::getColumnResolution
std::size_t getColumnResolution() const
Get column resolution of the DEM.
pcl::DigitalElevationMapBuilder::setMinPointsInCell
void setMinPointsInCell(std::size_t min_points_in_cell)
Set minimum amount of points in a DEM's cell.
pcl::DisparityMapConverter
Compute point cloud from the disparity map.
Definition disparity_map_converter.h:77
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
point_types.h
Defines all the PCL implemented PointT point type structures.
pcl
Definition convolution.h:46
pcl::PointDEM
A point structure representing Digital Elevation Map.
Definition point_types.hpp:1731