demo version
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Josip Milovac
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/*******************************************************************************
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* Copyright (c) 2021 Nerian Vision GmbH
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*******************************************************************************/
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#ifndef VISIONTRANSFER_RECONSTRUCT3D_H
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#define VISIONTRANSFER_RECONSTRUCT3D_H
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#include <limits>
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#include <stdexcept>
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#include "visiontransfer/common.h"
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#include "visiontransfer/imageset.h"
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#ifdef OPEN3D_VERSION
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# include <memory>
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#endif
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namespace visiontransfer {
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/**
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* \brief Transforms a disparity map into a set of 3D points.
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*
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* Use this class for reconstructing the 3D location for each valid
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* point in a disparity map.
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*/
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class VT_EXPORT Reconstruct3D {
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public:
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/**
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* \brief Constructs a new object for 3D reconstructing.
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*/
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Reconstruct3D();
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~Reconstruct3D();
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#ifndef DOXYGEN_SHOULD_SKIP_THIS
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/**
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* \brief Reconstructs the 3D location of each pixel in the given
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* disparity map.
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*
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* \param dispMap Pointer to the data of the disparity map. The disparity map is
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* assumed to have a N-bit subpixel resolution. This means that each
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* value needs to be divided by the subpixel factor to receive the true disparity.
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* \param width Width of the disparity map.
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* \param height Height of the disparity map.
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* \param rowStride Row stride (i.e. distance between two rows in bytes) of the
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* disparity map.
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* \param q Disparity-to-depth mapping matrix of size 4x4. The matrix is
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* stored in a row-wise alignment. Obtain this matrix from your
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* camera calibration data.
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* \param minDisparity The minimum disparity, again with N-bit subpixel
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* resolution. Lower disparities will be clamped to this value before
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* computing the 3D location.
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* \param subpixelFactor Subpixel division factor for disparity value.
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* \param maxDisparity The maximum value that occurs in the disparity map. Any value
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* greater or equal will be marked as invalid.
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*
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* This method is deprecated in favor of createPointMap(const ImageSet&, unsigned short).
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*/
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DEPRECATED("Use createPointMap(const ImageSet&, ...) instead.")
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float* createPointMap(const unsigned short* dispMap, int width, int height,
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int rowStride, const float* q, unsigned short minDisparity = 1,
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int subpixelFactor = 16, unsigned short maxDisparity = 0xFFF);
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#endif
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/**
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* \brief Reconstructs the 3D location of each pixel in the given
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* disparity map.
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*
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* \param imageSet Image set containing the disparity map.
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* \param minDisparity The minimum disparity with N-bit subpixel resolution.
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*
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* The output map will have a size of exactly 4*width*height float values. For each
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* point the x, y and z coordinates are stored consecutively, plus one additional
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* float (four bytes) as padding. Invalid disparities will be set to the given minimum disparity.
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*
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* If the minimum disparity is set to 0, points with a disparity of 0 or an invalid
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* disparity will receive a z coordinate of +inf. If a larger minimum disparity is given,
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* points with a lower disparity will be at a fix depth that corresponds to this
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* disparity.
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*
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* The returned point map is valid until the next call of createPointMap(), createZMap(), or
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* writePlyFile().
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*/
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float* createPointMap(const ImageSet& imageSet, unsigned short minDisparity = 1);
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/**
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* \brief Converts the disparit in an image set to a depth map
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*
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* \param imageSet Image set containing the disparity map.
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* \param minDisparity The minimum disparity with N-bit subpixel resolution.
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* \param maxDisparity The maximum value that occurs in the disparity map. Any value
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* greater or equal will be marked as invalid.
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*
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* The output map will have a size of exactly width*height float values. Each
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* value represents the depth at the given pixel coordinate in meters.
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*
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* This method is closely related to createPointMap(). It only computes the
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* Z coordinates, whereas createPointMap() also computes X and Y coordinates
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* for each image point.
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*
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* If the minimum disparity is set to 0, points with a disparity of 0 or an invalid
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* disparity will receive a z coordinate of +inf. If a larger minimum disparity is given,
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* points with a lower disparity will be at a fix depth that corresponds to this
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* disparity.
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*
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* The returned map is valid until the next call of createZMap(), createPointMap() or
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* writePlyFile().
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*/
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float* createZMap(const ImageSet& imageSet, unsigned short minDisparity = 1,
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unsigned short maxDisparity = 0xFFF);
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/**
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* \brief Reconstructs the 3D location of one individual point.
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*
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* \param imageX X component of the image location.
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* \param imageY Y component of the image location.
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* \param disparity Value of the disparity map at the image location.
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* It is assumed that the lower N bits are the fractional component.
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* This means that each value needs to be divided by a subpixel factor to
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* receive the true disparity.
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* \param q Disparity-to-depth mapping matrix of size 4x4. The matrix is
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* stored in a row-wise alignment. Obtain this matrix from your
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* camera calibration data.
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* \param pointX Destination variable for the 3D point X component.
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* \param pointY Destination variable for the 3D point Y component.
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* \param pointZ Destination variable for the 3D point Z component.
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* \param subpixelFactor Subpixel division factor for disparity value.
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*
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*
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* This method projects a single point from a disparity map to a
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* 3D location. If the 3D coordinates of multiple points are of interest,
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* createPointMap() should be used for best performance.
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*/
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void projectSinglePoint(int imageX, int imageY, unsigned short disparity, const float* q,
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float& pointX, float& pointY, float& pointZ, int subpixelFactor = 16);
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#ifndef DOXYGEN_SHOULD_SKIP_THIS
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/**
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* \brief Projects the given disparity map to 3D points and exports the result to
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* a PLY file.
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*
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* \param file The output file
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* \param dispMap Pointer to the data of the disparity map. The disparity map is
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* assumed to have a N-bit subpixel resolution. This means that each
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* value needs to be divided by a subpixel factor to receive the true disparity.
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* \param image Rectified left input image in 8-bit gray scale format.
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* \param width Width of the disparity map and left image.
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* \param height Height of the disparity map and left image.
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* \param format Pixel format for the left image.
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* \param dispRowStride Row stride (i.e. distance between two rows in bytes) of the
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* disparity map.
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* \param imageRowStride Row stride (i.e. distance between two rows in bytes) of the
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* left image.
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* \param q Disparity-to-depth mapping matrix of size 4x4. The matrix is
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* stored in a row-wise alignment. Obtain this matrix from your
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* camera calibration data.
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* \param maxZ Maximum allowed z-coordinate. Points with a higher z-coordinate
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* are not exported.
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* \param binary Specifies whether the ASCII or binary PLY-format should be used.
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* \param subpixelFactor Subpixel division factor for disparity value.
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* \param maxDisparity The maximum value that occurs in the disparity map. Any value
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* greater or equal will be marked as invalid.
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*
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* This method is deprecated in favor of
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* writePlyFile(const char*, const ImageSet&, double maxZ, bool);
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*/
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DEPRECATED("Use writePlyFile(const char*, const ImageSet&, ...) instead.")
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void writePlyFile(const char* file, const unsigned short* dispMap,
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const unsigned char* image, int width, int height, ImageSet::ImageFormat format,
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int dispRowStride, int imageRowStride, const float* q,
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double maxZ = std::numeric_limits<double>::max(),
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bool binary = false, int subpixelFactor = 16, unsigned short maxDisparity = 0xFFF);
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#endif
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/**
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* \brief Projects the given disparity map to 3D points and exports the result to
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* a PLY file.
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*
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* \param file The name for the output file.
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* \param imageSet Image set containing camera image and disparity map.
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* \param maxZ Maximum allowed z-coordinate.
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* \param binary Specifies whether the ASCII or binary PLY-format should be used.
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*
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*/
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void writePlyFile(const char* file, const ImageSet& imageSet,
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double maxZ = std::numeric_limits<double>::max(), bool binary = false);
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#ifdef PCL_MAJOR_VERSION
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/**
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* \brief Projects the given disparity map to a PCL point cloud without pixel intensities
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*
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* \param imageSet Image set containing the disparity map.
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* \param frameId Frame ID that will be assigned to the created point cloud.
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* \param minDisparity The minimum disparity with N-bit subpixel resolution.
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*
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* For this method to be available, the PCL headers must be included before
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* the libvisiontransfer headers!
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*
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* If the minimum disparity is set to 0, points with a disparity of 0 or an invalid
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* disparity will receive a z coordinate of +inf. If a larger minimum disparity is given,
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* points with a lower disparity will be at a fix depth that corresponds to this
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* disparity.
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*/
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inline pcl::PointCloud<pcl::PointXYZ>::Ptr createXYZCloud(const ImageSet& imageSet,
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const char* frameId, unsigned short minDisparity = 0);
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/**
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* \brief Projects the given disparity map to a PCL point cloud, including pixel intensities.
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*
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* See createXYZCloud() for details.
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*/
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inline pcl::PointCloud<pcl::PointXYZI>::Ptr createXYZICloud(const ImageSet& imageSet,
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const char* frameId, unsigned short minDisparity = 0);
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/**
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* \brief Projects the given disparity map to a PCL point cloud, including pixel RGB data.
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*
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* See createXYZCloud() for details.
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*/
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inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr createXYZRGBCloud(const ImageSet& imageSet,
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const char* frameId, unsigned short minDisparity = 0);
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#endif
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#ifdef OPEN3D_VERSION
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/**
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* \brief Projects the given disparity map to a Open3D point cloud
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*
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* \param imageSet Image set containing the disparity map.
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* \param withColor If true, color information will be copied to the
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* pointcloud.
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* \param minDisparity The minimum disparity with N-bit subpixel resolution.
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*
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* For this method to be available, the Open3d headers must be included before
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* the libvisiontransfer headers!
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*
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* If the minimum disparity is set to 0, points with a disparity of 0 or an invalid
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* disparity will receive a z coordinate of +inf. If a larger minimum disparity is given,
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* points with a lower disparity will be at a fix depth that corresponds to this
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* disparity.
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*/
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inline std::shared_ptr<open3d::geometry::PointCloud> createOpen3DCloud(const ImageSet& imageSet,
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bool withColor, unsigned short minDisparity = 0);
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/**
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* \brief Converts the given disparity map to a Open3D RGBDn image
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*
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* \param imageSet Image set containing the disparity map.
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* \param minDisparity The minimum disparity with N-bit subpixel resolution.
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*
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* For this method to be available, the Open3d headers must be included before
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* the libvisiontransfer headers!
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*
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* If the minimum disparity is set to 0, points with a disparity of 0 or an invalid
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* disparity will receive a z coordinate of +inf. If a larger minimum disparity is given,
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* points with a lower disparity will be at a fix depth that corresponds to this
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* disparity.
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*/
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inline std::shared_ptr<open3d::geometry::RGBDImage> createOpen3DImageRGBD(const ImageSet& imageSet,
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unsigned short minDisparity = 0);
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#endif
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private:
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// We follow the pimpl idiom
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class Pimpl;
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Pimpl* pimpl;
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// This class cannot be copied
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Reconstruct3D(const Reconstruct3D& other);
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Reconstruct3D& operator=(const Reconstruct3D&);
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#ifdef PCL_MAJOR_VERSION
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// Initializes a PCL point cloud
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template <typename T>
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typename pcl::PointCloud<T>::Ptr initPointCloud(const ImageSet& imageSet, const char* frameId);
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#endif
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};
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} // namespace
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#include "visiontransfer/reconstruct3d-pcl.h"
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#include "visiontransfer/reconstruct3d-open3d.h"
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#endif
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