Detailed Description

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 47 of file reconstruct3d.h.

#include <visiontransfer/reconstruct3d.h>

Classes
class	Pimpl

Public Types
enum	ColorSource { COLOR_NONE, COLOR_AUTO, COLOR_LEFT, COLOR_THIRD_COLOR }
	Source channel selection for color information. More...

Public Member Functions
	Reconstruct3D ()
	Constructs a new object for 3D reconstructing. More...

float *	createPointMap (const ImageSet &imageSet, unsigned short minDisparity=0, unsigned short maxDisparity=0xFFF)
	Reconstructs the 3D location of each pixel in the given disparity map. More...

float *	createZMap (const ImageSet &imageSet, unsigned short minDisparity=0, unsigned short maxDisparity=0xFFF)
	Converts the disparity in an image set to a depth map. More...

void	projectSinglePoint (int imageX, int imageY, unsigned short disparity, const float *q, float &pointX, float &pointY, float &pointZ, int subpixelFactor=16)
	Reconstructs the 3D location of one individual point. More...

void	writePlyFile (const char *file, const ImageSet &imageSet, double maxZ=(std::numeric_limits< double >::max)(), bool binary=false, ColorSource colSource=COLOR_AUTO, unsigned short maxDisparity=0xFFF)
	Projects the given disparity map to 3D points and exports the result to a PLY file. More...

pcl::PointCloud< pcl::PointXYZ >::Ptr	createXYZCloud (const ImageSet &imageSet, 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 ImageSet &imageSet, const char *frameId, unsigned short minDisparity=0)
	Projects the given disparity map to a PCL point cloud, including pixel intensities. More...

pcl::PointCloud< pcl::PointXYZRGB >::Ptr	createXYZRGBCloud (const ImageSet &imageSet, const char *frameId, unsigned short minDisparity=0)
	Projects the given disparity map to a PCL point cloud, including pixel RGB data. More...

std::shared_ptr< open3d::geometry::PointCloud >	createOpen3DCloud (const ImageSet &imageSet, ColorSource colSource=COLOR_AUTO, unsigned short minDisparity=0, unsigned short maxDisparity=0xFFF)
	Projects the given disparity map to a Open3D point cloud. More...

std::shared_ptr< open3d::geometry::RGBDImage >	createOpen3DImageRGBD (const ImageSet &imageSet, ColorSource colSource=COLOR_AUTO, unsigned short minDisparity=0)
	Converts the given disparity map to a Open3D RGBDn image. More...

Member Enumeration Documentation

◆ ColorSource

enum visiontransfer::Reconstruct3D::ColorSource

Source channel selection for color information.

Enumerator
COLOR_NONE	Omit color information.
COLOR_AUTO	Automatically choose the best color channel.
COLOR_LEFT	Copy color data from left camera.
COLOR_THIRD_COLOR	Copy color data from 3rd color camera.

Definition at line 65 of file reconstruct3d.h.

Constructor & Destructor Documentation

◆ Reconstruct3D()

visiontransfer::Reconstruct3D::Reconstruct3D ( )

Constructs a new object for 3D reconstructing.

Definition at line 89 of file reconstruct3d.cpp.

Member Function Documentation

◆ createOpen3DCloud()

std::shared_ptr< open3d::geometry::PointCloud > visiontransfer::Reconstruct3D::createOpen3DCloud	(	const ImageSet &	imageSet,
		ColorSource	colSource = `COLOR_AUTO`,
		unsigned short	minDisparity = `0`,
		unsigned short	maxDisparity = `0xFFF`
	)

inline

Projects the given disparity map to a Open3D point cloud.

Parameters

imageSet	Image set containing the disparity map.
colSource	Source channel of the color information
minDisparity	The minimum disparity with N-bit subpixel resolution.
maxDisparity	The maximum value that occurs in the disparity map. Any value greater or equal will be marked as invalid.

For this method to be available, the Open3d 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 39 of file reconstruct3d-open3d.h.

◆ createOpen3DImageRGBD()

std::shared_ptr< open3d::geometry::RGBDImage > visiontransfer::Reconstruct3D::createOpen3DImageRGBD	(	const ImageSet &	imageSet,
		ColorSource	colSource = `COLOR_AUTO`,
		unsigned short	minDisparity = `0`
	)

inline

Converts the given disparity map to a Open3D RGBDn image.

Parameters

imageSet	Image set containing the disparity map.
minDisparity	The minimum disparity with N-bit subpixel resolution.

For this method to be available, the Open3d 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 100 of file reconstruct3d-open3d.h.

◆ createPointMap()

float * visiontransfer::Reconstruct3D::createPointMap	(	const ImageSet &	imageSet,
		unsigned short	minDisparity = `0`,
		unsigned short	maxDisparity = `0xFFF`
	)

Reconstructs the 3D location of each pixel in the given disparity map.

Parameters

imageSet	Image set containing the disparity map.
minDisparity	The minimum disparity with N-bit subpixel resolution.
maxDisparity	The maximum value that occurs in the disparity map. Any value greater or equal will be marked as invalid.

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(), createZMap(), or writePlyFile().

Definition at line 97 of file reconstruct3d.cpp.

◆ createXYZCloud()

pcl::PointCloud< pcl::PointXYZ >::Ptr visiontransfer::Reconstruct3D::createXYZCloud	(	const ImageSet &	imageSet,
		const char *	frameId,
		unsigned short	minDisparity = `0`
	)

inline

Projects the given disparity map to a PCL point cloud without pixel intensities.

Parameters

imageSet	Image set containing the disparity map.
frameId	Frame ID that will be assigned to the created point cloud.
minDisparity	The minimum disparity with N-bit 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 56 of file reconstruct3d-pcl.h.

◆ createXYZICloud()

pcl::PointCloud< pcl::PointXYZI >::Ptr visiontransfer::Reconstruct3D::createXYZICloud	(	const ImageSet &	imageSet,
		const char *	frameId,
		unsigned short	minDisparity = `0`
	)

inline

Projects the given disparity map to a PCL point cloud, including pixel intensities.

See createXYZCloud() for details.

Definition at line 64 of file reconstruct3d-pcl.h.

◆ createXYZRGBCloud()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr visiontransfer::Reconstruct3D::createXYZRGBCloud	(	const ImageSet &	imageSet,
		const char *	frameId,
		unsigned short	minDisparity = `0`
	)

inline

Projects the given disparity map to a PCL point cloud, including pixel RGB data.

See createXYZCloud() for details.

Definition at line 107 of file reconstruct3d-pcl.h.

◆ createZMap()

float * visiontransfer::Reconstruct3D::createZMap	(	const ImageSet &	imageSet,
		unsigned short	minDisparity = `0`,
		unsigned short	maxDisparity = `0xFFF`
	)

Converts the disparity in an image set to a depth map.

Parameters

imageSet	Image set containing the disparity map.
minDisparity	The minimum disparity with N-bit subpixel resolution.
maxDisparity	The maximum value that occurs in the disparity map. Any value greater or equal will be marked as invalid.

The output map will have a size of exactly width*height float values. Each value represents the depth at the given pixel coordinate in meters.

This method is closely related to createPointMap(). It only computes the Z coordinates, whereas createPointMap() also computes X and Y coordinates for each image point.

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 map is valid until the next call of createZMap(), createPointMap() or writePlyFile().

Definition at line 108 of file reconstruct3d.cpp.

◆ projectSinglePoint()

void visiontransfer::Reconstruct3D::projectSinglePoint	(	int	imageX,
		int	imageY,
		unsigned short	disparity,
		const float *	q,
		float &	pointX,
		float &	pointY,
		float &	pointZ,
		int	subpixelFactor = `16`
	)

Reconstructs the 3D location of one individual point.

Parameters

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 N bits are the fractional component. This means that each value needs to be divided by a subpixel factor to receive the true disparity.
q	Disparity-to-depth mapping matrix of size 4x4. The matrix is stored in a row-wise 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.
subpixelFactor	Subpixel division factor for disparity value.

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 113 of file reconstruct3d.cpp.

◆ writePlyFile()

void visiontransfer::Reconstruct3D::writePlyFile	(	const char *	file,
		const ImageSet &	imageSet,
		double	maxZ = `(std::numeric_limits<double>::max)()`,
		bool	binary = `false`,
		ColorSource	colSource = `COLOR_AUTO`,
		unsigned short	maxDisparity = `0xFFF`
	)

Projects the given disparity map to 3D points and exports the result to a PLY file.

Parameters

file	The name for the output file.
imageSet	Image set containing camera image and disparity map.
maxZ	Maximum allowed z-coordinate.
binary	Specifies whether the ASCII or binary PLY-format should be used.
colSource	Source channel of the color information
maxDisparity	The maximum value that occurs in the disparity map. Any value greater or equal will be marked as invalid.

Definition at line 119 of file reconstruct3d.cpp.

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

visiontransfer/reconstruct3d.h
visiontransfer/reconstruct3d-open3d.h
visiontransfer/reconstruct3d-pcl.h
visiontransfer/reconstruct3d.cpp

Detailed Description

Classes

Public Types

Public Member Functions

Member Enumeration Documentation

◆ ColorSource

Constructor & Destructor Documentation

◆ Reconstruct3D()

Member Function Documentation

◆ createOpen3DCloud()

◆ createOpen3DImageRGBD()

◆ createPointMap()

◆ createXYZCloud()

◆ createXYZICloud()

◆ createXYZRGBCloud()

◆ createZMap()

◆ projectSinglePoint()

◆ writePlyFile()