| 1 | #ifndef LIB3DV_IPM_H
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| 2 | #define LIB3DV_IPM_H
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| 3 |
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| 4 | /* ipm.h
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| 5 | *
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| 6 | * Copyright (C) 2013 VisLab
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| 7 | *
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| 8 | * This file is part of lib3dv; you can redistribute it and/or modify
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| 9 | * it under the terms of the GNU Lesser General Public License as published by
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| 10 | * the Free Software Foundation; either version 3 of the License, or (at
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| 11 | * your option) any later version.
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| 12 | *
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| 13 | * This program is distributed in the hope that it will be useful, but
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| 14 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 16 | * General Public License for more details.
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| 17 | *
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| 18 | * You should have received a copy of the GNU Lesser General Public License
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| 19 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 |
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| 22 | #include <lib3dv/calibration.h>
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| 23 | #include <lib3dv/point.h>
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| 24 |
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| 25 | #include <lib3dv/3dv_export.h>
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| 26 |
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| 27 | #include <boost/shared_ptr.hpp>
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| 28 |
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| 29 | #include <vector>
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| 30 |
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| 31 | namespace lib3dv
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| 32 | {
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| 33 | class image;
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| 34 |
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| 35 | /**
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| 36 | * @brief Inverse perspective mapping
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| 37 | *
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| 38 | * This class turns raw depth measurements into 3D points. Both sensor and world coordinate systems are supported.
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| 39 | *
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| 40 | * @note Intrinsic camera params must match the DSI resolution, so if the calibration information refers to the full-resolution image and a 2x downsampling has been applied to the depth map,
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| 41 | * all the fields of calibration::camera_intrinsics will have to be divided by 2 before invoking the constructor.
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| 42 | **/
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| 43 | class LIB3DV_EXPORT inverse_perspective_mapping
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| 44 | {
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| 45 | public :
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| 46 |
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| 47 | /**
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| 48 | * @brief Setup the conversion from a depth map to a point cloud in sensor coordinates [x -> right, y -> down, z -> forward].
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| 49 | *
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| 50 | * @param [in] intrinsics Right camera intrinsic calibration parameters.
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| 51 | * @param [in] baseline Euclidean distance between the optical centers.
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| 52 | **/
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| 53 | inverse_perspective_mapping(const calibration::camera_intrinsics& intrinsics, float baseline);
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| 54 |
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| 55 | /**
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| 56 | * @brief Setup the conversion from a depth map to a point cloud in world coordinates [x -> forward, y -> left, z -> up].
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| 57 | *
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| 58 | * @param [in] intrinsics Right camera intrinsic calibration parameters.
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| 59 | * @param [in] position Right camera position.
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| 60 | * @param [in] orientation Right camera orientation.
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| 61 | * @param [in] baseline Euclidean distance between the optical centers.
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| 62 | **/
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| 63 | inverse_perspective_mapping(const calibration::camera_intrinsics& intrinsics, const calibration::position& position, const calibration::orientation& orientation, float baseline);
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| 64 |
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| 65 | ~inverse_perspective_mapping();
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| 66 |
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| 67 | /**
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| 68 | * @brief Convert a depth map to a point cloud.
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| 69 | *
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| 70 | * @param [in] dsi Depth map. Must be a lib3dv::image::type::DSI.
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| 71 | * @param [out] world_points Point cloud.
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| 72 | * @return bool True if the operation was successful, false otherwise.
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| 73 | **/
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| 74 | bool operator()(boost::shared_ptr<const image> dsi, std::vector<point3>& world_points);
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| 75 |
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| 76 | private :
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| 77 |
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| 78 | calibration::camera_intrinsics m_intrinsics;
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| 79 | float m_baseline;
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| 80 | float* m_transformation_matrix;
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| 81 | };
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| 82 | }
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| 83 |
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| 84 | #endif
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