DepthMapToPointCloudAlgorithm Class Reference

#include <RGBD/Include/ImFusion/RGBD/DepthMapToPointCloudAlgorithm.h>

DepthMapToPointCloudAlgorithm converts depth maps (optionally with color images) into point clouds. More...

Inheritance diagram for DepthMapToPointCloudAlgorithm:

Detailed Description

DepthMapToPointCloudAlgorithm converts depth maps (optionally with color images) into point clouds.

The algorithm uses camera calibration and extrinsic parameters to map depth pixels to 3D points in world coordinates. The camera-to-world transformation matrix in the transformation of the output point cloud is formed by RGBDDataComponent::pose together with RGBDDataComponent::sensorTransform (default is identity) from the RGBDDataComponent of the input images to ensure correct spatial alignment.

The algorithm supports optional depth cutoff, bounding box cropping, and pixel-to-pointcloud index mapping.

Typical usage:

ImFusion::DepthMapToPointCloudAlgorithm algo(depthImages, colorImages);
algo.setDepthCutoff(2000.0); // in world units
algo.compute();
auto clouds = algo.takePointClouds();

Note

• Ownership of point clouds returned by takePointClouds() is transferred to the caller.
• Input images must be compatible in resolution and calibration.
• Not thread-safe.

See also

ImFusion::PointCloud, ImFusion::DepthMapToMeshAlgorithm

All methods are not thread-safe unless otherwise stated.

Classes
struct	BoundingBox
	Structure representing a bounding box for cropping. More...

Public Member Functions
	DepthMapToPointCloudAlgorithm (const SharedImageSet *depth, const SharedImageSet *color)
	Constructs the algorithm with depth and color image sets.
void	setDepthCutoff (double d)
	Sets the depth cutoff value (in world units).
double	depthCutoff () const
void	setComputePixelToPointCloudIdx (bool val)
	Enables or disables computation of pixel-to-pointcloud index mapping.
bool	computePixelToPointCloudIdx ()
void	setBoundingBox (const BoundingBox &bb)
	Sets the bounding box for cropping the point cloud.
void	compute () override
	Runs the point cloud generation algorithm.
std::vector< std::unique_ptr< PointCloud > >	takePointClouds ()
	Returns the generated point clouds.
std::map< std::pair< int, int >, int >	colorPixelToPointCloudIdx ()
	Returns a map from color image pixel indices to point cloud point indices.
OwningDataList	takeOutput () override
	Returns the output data list containing generated point clouds.
void	configure (const Properties *p) override
	Configures the algorithm from a Properties object.
void	configuration (Properties *p) const override
	Writes the current configuration to a Properties object.
Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.
Progress *	progress () const
	Returns the progress interface if set.
virtual int	status () const
	Indicates the status of the last call to compute().
virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.
const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
Status	runAction (const std::string &id)
	Run the action with name id if it exists.
const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=0)
	Factory method for compatibility checking and creation.
static bool	checkInput (const SharedImageSet *depthIn, const SharedImageSet *colorIn, std::string &errorMsg)
	Checks if the input image sets are valid and compatible.
Static Public Member Functions inherited from Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Additional Inherited Members
Public Types inherited from Algorithm
enum	Status {   Unknown = -1 , Success = 0 , Error = 1 , InvalidInput ,   IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU ,   UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...
Public Attributes inherited from Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.
Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Member Functions inherited from Algorithm
void	loadDefaults ()
void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.
template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.
void	registerAction (const Action &action)
	Register an action.
Protected Attributes inherited from Algorithm
std::string	m_name
	Algorithm name.
Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.
FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.
int	m_status = Status::Unknown
	Algorithm status after last call to compute()
std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Constructor & Destructor Documentation

DepthMapToPointCloudAlgorithm()

DepthMapToPointCloudAlgorithm	(	const SharedImageSet *	depth,
		const SharedImageSet *	color )

Constructs the algorithm with depth and color image sets.

Parameters

depth	Pointer to SharedImageSet containing depth images.
color	Pointer to SharedImageSet containing color images.

Precondition: Both input image sets must be valid and compatible.

Member Function Documentation

createCompatible()

static bool createCompatible ( const DataList & data, Algorithm ** a = 0 )

static

Factory method for compatibility checking and creation.

Parameters

data	DataList containing input data.
a	Optional output pointer for created algorithm instance.

Returns

true if compatible, false otherwise.

setDepthCutoff()

void setDepthCutoff ( double d )

inline

Sets the depth cutoff value (in world units).

Points beyond this depth are ignored during conversion.

setComputePixelToPointCloudIdx()

void setComputePixelToPointCloudIdx

(

bool

val

)

Enables or disables computation of pixel-to-pointcloud index mapping.

This mapping allows associating color image pixels with point cloud indices.

compute()

void compute ( )

overridevirtual

Runs the point cloud generation algorithm.

Generates point clouds from the input depth and color images.

Implements Algorithm.

takePointClouds()

std::vector< std::unique_ptr< PointCloud > > takePointClouds

(

)

Returns the generated point clouds.

Ownership of the returned point clouds is transferred to the caller.

colorPixelToPointCloudIdx()

std::map< std::pair< int, int >, int > colorPixelToPointCloudIdx

(

)

Returns a map from color image pixel indices to point cloud point indices.

The map key is (color image index, pixel index), value is point cloud index.

takeOutput()

OwningDataList takeOutput ( )

overridevirtual

Returns the output data list containing generated point clouds.

Reimplemented from Algorithm.

configure()

void configure ( const Properties * p )

overridevirtual

Configures the algorithm from a Properties object.

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Writes the current configuration to a Properties object.

Reimplemented from Configurable.

checkInput()

static bool checkInput ( const SharedImageSet * depthIn, const SharedImageSet * colorIn, std::string & errorMsg )

static

Checks if the input image sets are valid and compatible.

Parameters

depthIn	Pointer to SharedImageSet containing depth images.
colorIn	Pointer to SharedImageSet containing color images.
errorMsg	Output string for error messages.

Returns

true if input is valid, false otherwise.

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

• RGBD/Include/ImFusion/RGBD/DepthMapToPointCloudAlgorithm.h