libvisiontransfer
6.1.0

Transforms a disparity map into a set of 3D points. More...
#include <visiontransfer/reconstruct3d.h>
Classes  
class  Pimpl 
Public Member Functions  
Reconstruct3D ()  
Constructs a new object for 3D reconstructing. More...  
float *  createPointMap (const unsigned short *dispMap, int width, int height, int rowStride, const float *q, unsigned short minDisparity=1) 
Reconstructs the 3D location of each pixel in the given disparity map. More...  
float *  createPointMap (const ImagePair &imagePair, unsigned short minDisparity=1) 
Reconstructs the 3D location of each pixel in the given disparity map. More...  
void  projectSinglePoint (int imageX, int imageY, unsigned short disparity, const float *q, float &pointX, float &pointY, float &pointZ) 
Reconstructs the 3D location of one individual point. More...  
void  writePlyFile (const char *file, const unsigned short *dispMap, const unsigned char *image, int width, int height, bool isRgb, int dispRowStride, int imageRowStride, const float *q, double maxZ=std::numeric_limits< double >::max(), bool binary=false) 
Projects the given disparity map to 3D points and exports the result to a PLY file. More...  
void  writePlyFile (const char *file, const ImagePair &imagePair, double maxZ=std::numeric_limits< double >::max(), bool binary=false) 
Projects the given disparity map to 3D points and exports the result to a PLY file. More...  
pcl::PointCloud< pcl::PointXYZ >::Ptr  createXYZCloud (const ImagePair &imagePair, const char *frameId, unsigned short minDisparity=0) 
Projects the given disparity map to a PCL point cloud without pixel intensities. More...  
pcl::PointCloud< pcl::PointXYZI >::Ptr  createXYZICloud (const ImagePair &imagePair, const char *frameId, unsigned short minDisparity=0) 
Projects the given disparity map to a PCL point cloud, including pixel intensities. More...  
Transforms a disparity map into a set of 3D points.
Use this class for reconstructing the 3D location for each valid point in a disparity map.
Definition at line 29 of file reconstruct3d.h.
Reconstruct3D::Reconstruct3D  (  ) 
Constructs a new object for 3D reconstructing.
Definition at line 70 of file reconstruct3d.cpp.
float * Reconstruct3D::createPointMap  (  const unsigned short *  dispMap, 
int  width,  
int  height,  
int  rowStride,  
const float *  q,  
unsigned short  minDisparity = 1 

) 
Reconstructs the 3D location of each pixel in the given disparity map.
dispMap  Pointer to the data of the disparity map. The disparity map is assumed to have a 4bit subpixel resolution. This means that each value needs to be divided by 16 to receive the true disparity. 
width  Width of the disparity map. 
height  Height of the disparity map. 
rowStride  Row stride (i.e. distance between two rows in bytes) of the disparity map. 
q  Disparitytodepth mapping matrix of size 4x4. The matrix is stored in a rowwise alignment. Obtain this matrix from your camera calibration data. 
minDisparity  The minimum disparity, again with 4bit subpixel resolution. Lower disparities will be clamped to this value before computing the 3D location. 
The output map will have a size of exactly 4*width*height float values. For each point the x, y and z coordinates are stored consecutively, plus one additional float (four bytes) as padding. Invalid disparities will be set to the given minimum disparity.
If the minimum disparity is set to 0, points with a disparity of 0 or an invalid disparity will receive a z coordinate of +inf. If a larger minimum disparity is given, points with a lower disparity will be at a fix depth that corresponds to this disparity.
The returned point map is valid until the next call of createPointMap() or writePlyFile().
Definition at line 78 of file reconstruct3d.cpp.
float * Reconstruct3D::createPointMap  (  const ImagePair &  imagePair, 
unsigned short  minDisparity = 1 

) 
Reconstructs the 3D location of each pixel in the given disparity map.
imagePair  Image pair containing the disparity map. 
minDisparity  The minimum disparity with 4bit subpixel resolution. 
The second image in imagePair
is interpreted as the disparity map.
Please see createPointMap(const unsigned short*, int, int, int, const float*, unsigned short) for further details.
Definition at line 83 of file reconstruct3d.cpp.

inline 
Projects the given disparity map to a PCL point cloud without pixel intensities.
imagePair  Image pair containing the disparity map. 
frameId  Frame ID that will be assigned to the created point cloud. 
minDisparity  The minimum disparity with 4bit subpixel resolution. 
For this method to be available, the PCL headers must be included before the libvisiontransfer headers!
If the minimum disparity is set to 0, points with a disparity of 0 or an invalid disparity will receive a z coordinate of +inf. If a larger minimum disparity is given, points with a lower disparity will be at a fix depth that corresponds to this disparity.
Definition at line 42 of file reconstruct3dpcl.h.

inline 
Projects the given disparity map to a PCL point cloud, including pixel intensities.
See createXYZCloud() for details.
Definition at line 50 of file reconstruct3dpcl.h.
void Reconstruct3D::projectSinglePoint  (  int  imageX, 
int  imageY,  
unsigned short  disparity,  
const float *  q,  
float &  pointX,  
float &  pointY,  
float &  pointZ  
) 
Reconstructs the 3D location of one individual point.
imageX  X component of the image location. 
imageY  Y component of the image location. 
disparity  Value of the disparity map at the image location. It is assumed that the lower 4 bits are the fractional component. This means that each value needs to be divided by 16 to receive the true disparity. 
q  Disparitytodepth mapping matrix of size 4x4. The matrix is stored in a rowwise alignment. Obtain this matrix from your camera calibration data. 
pointX  Destination variable for the 3D point X component. 
pointY  Destination variable for the 3D point Y component. 
pointZ  Destination variable for the 3D point Z component. 
This method projects a single point from a disparity map to a 3D location. If the 3D coordinates of multiple points are of interest, createPointMap() should be used for best performance.
Definition at line 87 of file reconstruct3d.cpp.
void Reconstruct3D::writePlyFile  (  const char *  file, 
const unsigned short *  dispMap,  
const unsigned char *  image,  
int  width,  
int  height,  
bool  isRgb,  
int  dispRowStride,  
int  imageRowStride,  
const float *  q,  
double  maxZ = std::numeric_limits<double>::max() , 

bool  binary = false 

) 
Projects the given disparity map to 3D points and exports the result to a PLY file.
file  The output file 
dispMap  Pointer to the data of the disparity map. The disparity map is assumed to have a 4bit subpixel resolution. This means that each value needs to be divided by 16 to receive the true disparity. 
left  Rectified left input image in 8bit gray scale format. 
width  Width of the disparity map and left image. 
height  Height of the disparity map and left image. 
isRgb  For color images this parameter should be set to true, for mono images it should be false. 
dispRowStride  Row stride (i.e. distance between two rows in bytes) of the disparity map. 
imageRowStride  Row stride (i.e. distance between two rows in bytes) of the left image. 
q  Disparitytodepth mapping matrix of size 4x4. The matrix is stored in a rowwise alignment. Obtain this matrix from your camera calibration data. 
maxZ  Maximum allowed zcoordinate. Points with a higher zcoordinate are not exported. 
binary  Specifies whether the ASCII or binary PLYformat should be used. 
The left image has to be provided for assigning a color to each point.
Definition at line 92 of file reconstruct3d.cpp.
void Reconstruct3D::writePlyFile  (  const char *  file, 
const ImagePair &  imagePair,  
double  maxZ = std::numeric_limits<double>::max() , 

bool  binary = false 

) 
Projects the given disparity map to 3D points and exports the result to a PLY file.
imagePair  Image pair containing camera image and disparity map. 
maxZ  Maximum allowed zcoordinate. 
binary  Specifies whether the ASCII or binary PLYformat should be used. 
The first image in imagePair
is interpreted as camera image and the second image as disparity map.
Please see writePlyFile(const char*, const unsigned short*, const unsigned char*, int, int, bool, int, int, const float*, double) for further details.
Definition at line 99 of file reconstruct3d.cpp.