Point Cloud Library (PCL)  1.8.1
digital_elevation_map.h
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36 #ifndef PCL_DIGITAL_ELEVATION_MAP_H_
37 #define PCL_DIGITAL_ELEVATION_MAP_H_
38 
39 #include <pcl/point_types.h>
40 #include <pcl/stereo/disparity_map_converter.h>
41 
42 namespace pcl
43 {
44  /** \brief Build a Digital Elevation Map in the column-disparity space from a disparity map and a color image of the scene.
45  *
46  * Example of usage:
47  *
48  * \code
49  * pcl::PointCloud<pcl::PointDEM>::Ptr cloud (new
50  * pcl::PointCloud<pcl::PointDEM>);
51  * pcl::PointCloud<pcl::RGB>::Ptr left_image (new
52  * pcl::PointCloud<pcl::RGB>);
53  * // Fill left image cloud.
54  *
55  * pcl::DigitalElevationMapBuilder demb;
56  * demb.setBaseline (0.8387445f);
57  * demb.setFocalLength (368.534700f);
58  * demb.setImageCenterX (318.112200f);
59  * demb.setImageCenterY (224.334900f);
60  * demb.setDisparityThresholdMin (15.0f);
61  * demb.setDisparityThresholdMax (80.0f);
62  * demb.setResolution (64, 32);
63  *
64  * // Left view of the scene.
65  * demb.loadImage (left_image);
66  * // Disparity map of the scene.
67  * demb.loadDisparityMap ("disparity_map.txt", 640, 480);
68  *
69  * demb.compute(*cloud);
70  * \endcode
71  *
72  * \author Timur Ibadov (ibadov.timur@gmail.com)
73  * \ingroup stereo
74  */
75  class PCL_EXPORTS DigitalElevationMapBuilder : public DisparityMapConverter <PointDEM>
76  {
77  public:
86 
87  /** \brief DigitalElevationMapBuilder constructor. */
89  /** \brief Empty destructor. */
90  virtual ~DigitalElevationMapBuilder ();
91 
92  /** \brief Set resolution of the DEM.
93  * \param[in] resolution_column the column resolution.
94  * \param[in] resolution_disparity the disparity resolution.
95  */
96  void
97  setResolution (size_t resolution_column, size_t resolution_disparity);
98 
99  /** \brief Get column resolution of the DEM.
100  * \return column resolution of the DEM.
101  */
102  size_t
103  getColumnResolution () const;
104 
105  /** \brief Get disparity resolution of the DEM.
106  * \return disparity resolution of the DEM.
107  */
108  size_t
109  getDisparityResolution () const;
110 
111  /** \brief Set minimum amount of points in a DEM's cell.
112  * \param[in] min_points_in_cell minimum amount of points in a DEM's cell.
113  */
114  void
115  setMinPointsInCell (size_t min_points_in_cell);
116 
117  /** \brief Get minimum amount of points in a DEM's cell.
118  * \return minimum amount of points in a DEM's cell.
119  */
120  size_t
121  getMinPointsInCell () const;
122 
123  /** \brief Compute the Digital Elevation Map.
124  * \param[out] out_cloud the variable to return the resulting cloud.
125  */
126  void
127  compute (pcl::PointCloud<PointDEM> &out_cloud);
128 
129  protected:
130  /** \brief Column resolution of the DEM. */
132  /** \brief disparity resolution of the DEM. */
134 
135  /** \brief Minimum amount of points in a DEM's cell. */
137  };
138 }
139 
140 #endif // PCL_DIGITAL_ELEVATION_MAP_H_
size_t resolution_column_
Column resolution of the DEM.
size_t min_points_in_cell_
Minimum amount of points in a DEM's cell.
Defines all the PCL implemented PointT point type structures.
Compute point cloud from the disparity map.
PointCloud represents the base class in PCL for storing collections of 3D points.
Build a Digital Elevation Map in the column-disparity space from a disparity map and a color image of...
size_t resolution_disparity_
disparity resolution of the DEM.