39 #include <pcl/point_cloud.h> 76 template <
typename Po
intT>
187 const std::size_t width,
188 const std::size_t height);
204 const std::size_t width,
205 const std::size_t height);
258 #include <pcl/stereo/impl/disparity_map_converter.hpp> bool is_color_
Is color image is set.
shared_ptr< PointCloud< PointT > > Ptr
void setFocalLength(const float focal_length)
Set focal length.
float getImageCenterX() const
Get x-coordinate of the image center.
float getBaseline() const
Get baseline.
float getFocalLength() const
Get focal length.
bool loadDisparityMap(const std::string &file_name)
Load the disparity map.
float getDisparityThresholdMin() const
Get min disparity threshold.
void setDisparityMap(const std::vector< float > &disparity_map)
Set the disparity map.
virtual void compute(PointCloud &out_cloud)
Compute the output cloud.
DisparityMapConverter()
DisparityMapConverter constructor.
PointXYZ translateCoordinates(std::size_t row, std::size_t column, float disparity) const
Translate point from image coordinates and disparity to 3D-coordinates.
std::vector< float > getDisparityMap()
Get the disparity map.
float focal_length_
Focal length.
void setDisparityThresholdMax(const float disparity_threshold_max)
Set max disparity threshold.
pcl::PointCloud< pcl::RGB >::ConstPtr image_
Color image of the scene.
virtual ~DisparityMapConverter()
Empty destructor.
Defines all the PCL implemented PointT point type structures.
void setDisparityThresholdMin(const float disparity_threshold_min)
Set min disparity threshold.
A point structure representing Euclidean xyz coordinates.
Compute point cloud from the disparity map.
float getImageCenterY() const
Get y-coordinate of the image center.
float getDisparityThresholdMax() const
Get max disparity threshold.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
std::size_t disparity_map_width_
X-size of the disparity map.
float center_x_
X-coordinate of the image center.
void setBaseline(const float baseline)
Set baseline.
void setImageCenterY(const float center_y)
Set y-coordinate of the image center.
shared_ptr< const PointCloud< PointT > > ConstPtr
void setImage(const pcl::PointCloud< pcl::RGB >::ConstPtr &image)
Set an image, that will be used for coloring of the output cloud.
void setImageCenterX(const float center_x)
Set x-coordinate of the image center.
std::vector< float > disparity_map_
Vector for the disparity map.
float disparity_threshold_min_
Thresholds of the disparity.
float disparity_threshold_max_
std::size_t disparity_map_height_
Y-size of the disparity map.
pcl::PointCloud< RGB >::Ptr getImage()
Get the image, that is used for coloring of the output cloud.
float center_y_
Y-coordinate of the image center.