Point Cloud Library (PCL) 1.13.0
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point_cloud_image_extractors.h
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37
38#pragma once
39
40#include <pcl/point_cloud.h>
41#include <pcl/PCLImage.h>
42
43namespace pcl
44{
45 namespace io
46 {
47 //////////////////////////////////////////////////////////////////////////////////////
48 /** \brief Base Image Extractor class for organized point clouds.
49 *
50 * This is an abstract class that declares an interface for image extraction from
51 * organized point clouds. The family of its subclasses provide functionality to
52 * extract images from particular fields.
53 *
54 * The following piece of code demonstrates typical usage of a PointCloudImageExtractor
55 * subclass. Here the data are extracted from the "label" field and are saved as a
56 * PNG image file.
57 *
58 * \code
59 * // Source point cloud (needs to be filled with data of course)
60 * pcl::PointCloud<pcl::PointXYZLabel> cloud;
61 * // Target image
62 * pcl::PCLImage image;
63 * // Create PointCloudImageExtractor subclass that can handle "label" field
64 * pcl::io::PointCloudImageExtractorFromLabelField<pcl::XYZLabel> pcie;
65 * // Set it up if not happy with the defaults
66 * pcie.setColorMode(pcie.COLORS_RGB_RANDOM);
67 * // Try to extract an image
68 * bool success = pcie.extract(cloud, image);
69 * // Save to file if succeeded
70 * if (success)
71 * pcl::io::saveImage ("filename.png", image);
72 * \endcode
73 *
74 * \author Sergey Alexandrov
75 * \ingroup io
76 */
77 template <typename PointT>
79 {
80 public:
82
83 using Ptr = shared_ptr<PointCloudImageExtractor<PointT> >;
84 using ConstPtr = shared_ptr<const PointCloudImageExtractor<PointT> >;
85
86 /** \brief Constructor. */
90
91 /** \brief Destructor. */
92 virtual ~PointCloudImageExtractor () = default;
93
94 /** \brief Obtain the image from the given cloud.
95 * \param[in] cloud organized point cloud to extract image from
96 * \param[out] image the output image
97 * \return true if the operation was successful, false otherwise
98 */
99 bool
100 extract (const PointCloud& cloud, pcl::PCLImage& image) const;
101
102 /** \brief Set a flag that controls if image pixels corresponding to
103 * NaN (infinite) points should be painted black.
104 */
105 inline void
107 {
109 }
110
111 protected:
112
113 /** \brief Implementation of the extract() function, has to be
114 * implemented in deriving classes.
115 */
116 virtual bool
117 extractImpl (const PointCloud& cloud, pcl::PCLImage& image) const = 0;
118
119 /// A flag that controls if image pixels corresponding to NaN (infinite)
120 /// points should be painted black.
122 };
123
124 //////////////////////////////////////////////////////////////////////////////////////
125 /** \brief Image Extractor extension which provides functionality to apply scaling to
126 * the values extracted from a field.
127 * \author Sergey Alexandrov
128 * \ingroup io
129 */
130 template <typename PointT>
132 {
133 using PointCloud = typename PointCloudImageExtractor<PointT>::PointCloud;
134
135 public:
136 using Ptr = shared_ptr<PointCloudImageExtractorWithScaling<PointT> >;
137 using ConstPtr = shared_ptr<const PointCloudImageExtractorWithScaling<PointT> >;
138
139 /** \brief Different scaling methods.
140 * <ul>
141 * <li><b>SCALING_NO</b> - no scaling.</li>
142 * <li><b>SCALING_FULL_RANGE</b> - scales to full range of the output value.</li>
143 * <li><b>SCASING_FIXED_FACTOR</b> - scales by a given fixed factor.</li>
144 * </ul>
145 */
152
153 /** \brief Constructor. */
154 PointCloudImageExtractorWithScaling (const std::string& field_name, const ScalingMethod scaling_method)
155 : field_name_ (field_name)
156 , scaling_method_ (scaling_method)
157 , scaling_factor_ (1.0f)
158 {
159 }
160
161 /** \brief Constructor. */
162 PointCloudImageExtractorWithScaling (const std::string& field_name, const float scaling_factor)
163 : field_name_ (field_name)
165 , scaling_factor_ (scaling_factor)
166 {
167 }
168
169 /** \brief Destructor. */
171
172 /** \brief Set scaling method. */
173 inline void
174 setScalingMethod (const ScalingMethod scaling_method)
175 {
176 scaling_method_ = scaling_method;
177 }
178
179 /** \brief Set fixed scaling factor. */
180 inline void
181 setScalingFactor (const float scaling_factor)
182 {
183 scaling_factor_ = scaling_factor;
184 }
185
186 protected:
187
188 bool
189 extractImpl (const PointCloud& cloud, pcl::PCLImage& image) const override;
190
191 std::string field_name_;
194 };
195
196 //////////////////////////////////////////////////////////////////////////////////////
197 /** \brief Image Extractor which uses the data present in the "normal" field. Normal
198 * vector components (x, y, z) are mapped to color channels (r, g, b respectively).
199 * \author Sergey Alexandrov
200 * \ingroup io
201 */
202 template <typename PointT>
204 {
205 using PointCloud = typename PointCloudImageExtractor<PointT>::PointCloud;
206
207 public:
208 using Ptr = shared_ptr<PointCloudImageExtractorFromNormalField<PointT> >;
209 using ConstPtr = shared_ptr<const PointCloudImageExtractorFromNormalField<PointT> >;
210
211 /** \brief Constructor. */
213
214 /** \brief Destructor. */
216
217 protected:
218
219 bool
220 extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const override;
221 };
222
223 //////////////////////////////////////////////////////////////////////////////////////
224 /** \brief Image Extractor which uses the data present in the "rgb" or "rgba" fields
225 * to produce a color image with rgb8 encoding.
226 * \author Sergey Alexandrov
227 * \ingroup io
228 */
229 template <typename PointT>
231 {
232 using PointCloud = typename PointCloudImageExtractor<PointT>::PointCloud;
233
234 public:
235 using Ptr = shared_ptr<PointCloudImageExtractorFromRGBField<PointT> >;
236 using ConstPtr = shared_ptr<const PointCloudImageExtractorFromRGBField<PointT> >;
237
238 /** \brief Constructor. */
240
241 /** \brief Destructor. */
243
244 protected:
245
246 bool
247 extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const override;
248 };
249
250 //////////////////////////////////////////////////////////////////////////////////////
251 /** \brief Image Extractor which uses the data present in the "label" field to produce
252 * either monochrome or RGB image where different labels correspond to different
253 * colors.
254 * See the documentation for ColorMode to learn about available coloring options.
255 * \author Sergey Alexandrov
256 * \ingroup io
257 */
258 template <typename PointT>
260 {
261 using PointCloud = typename PointCloudImageExtractor<PointT>::PointCloud;
262
263 public:
264 using Ptr = shared_ptr<PointCloudImageExtractorFromLabelField<PointT> >;
265 using ConstPtr = shared_ptr<const PointCloudImageExtractorFromLabelField<PointT> >;
266
267 /** \brief Different modes for color mapping. */
269 {
270 /// Shades of gray (according to label id)
271 /// \note Labels using more than 16 bits will cause problems
273 /// Randomly generated RGB colors
275 /// Fixed RGB colors from the [Glasbey lookup table](http://fiji.sc/Glasbey),
276 /// assigned in the ascending order of label id
278 };
279
280 /** \brief Constructor. */
282 : color_mode_ (color_mode)
283 {
284 }
285
286 /** \brief Destructor. */
288
289 /** \brief Set color mapping mode. */
290 inline void
291 setColorMode (const ColorMode color_mode)
292 {
293 color_mode_ = color_mode;
294 }
295
296 protected:
297
298 bool
299 extractImpl (const PointCloud& cloud, pcl::PCLImage& img) const override;
300
301 // Members derived from the base class
303
304 private:
305
306 ColorMode color_mode_;
307 };
308
309 //////////////////////////////////////////////////////////////////////////////////////
310 /** \brief Image Extractor which uses the data present in the "z" field to produce a
311 * depth map (as a monochrome image with mono16 encoding).
312 * \author Sergey Alexandrov
313 * \ingroup io
314 */
315 template <typename PointT>
317 {
318 using PointCloud = typename PointCloudImageExtractor<PointT>::PointCloud;
320
321 public:
322 using Ptr = shared_ptr<PointCloudImageExtractorFromZField<PointT> >;
323 using ConstPtr = shared_ptr<const PointCloudImageExtractorFromZField<PointT> >;
324
325 /** \brief Constructor.
326 * \param[in] scaling_factor a scaling factor to apply to each depth value (default 10000)
327 */
328 PointCloudImageExtractorFromZField (const float scaling_factor = 10000)
329 : PointCloudImageExtractorWithScaling<PointT> ("z", scaling_factor)
330 {
331 }
332
333 /** \brief Constructor.
334 * \param[in] scaling_method a scaling method to use
335 */
336 PointCloudImageExtractorFromZField (const ScalingMethod scaling_method)
337 : PointCloudImageExtractorWithScaling<PointT> ("z", scaling_method)
338 {
339 }
340
341 /** \brief Destructor. */
343
344 protected:
345 // Members derived from the base class
349 };
350
351 //////////////////////////////////////////////////////////////////////////////////////
352 /** \brief Image Extractor which uses the data present in the "curvature" field to
353 * produce a curvature map (as a monochrome image with mono16 encoding).
354 * \author Sergey Alexandrov
355 * \ingroup io
356 */
357 template <typename PointT>
359 {
360 using PointCloud = typename PointCloudImageExtractor<PointT>::PointCloud;
362
363 public:
364 using Ptr = shared_ptr<PointCloudImageExtractorFromCurvatureField<PointT> >;
365 using ConstPtr = shared_ptr<const PointCloudImageExtractorFromCurvatureField<PointT> >;
366
367 /** \brief Constructor.
368 * \param[in] scaling_method a scaling method to use (default SCALING_FULL_RANGE)
369 */
374
375 /** \brief Constructor.
376 * \param[in] scaling_factor a scaling factor to apply to each curvature value
377 */
379 : PointCloudImageExtractorWithScaling<PointT> ("curvature", scaling_factor)
380 {
381 }
382
383 /** \brief Destructor. */
385
386 protected:
387 // Members derived from the base class
391 };
392
393 //////////////////////////////////////////////////////////////////////////////////////
394 /** \brief Image Extractor which uses the data present in the "intensity" field to produce a
395 * monochrome intensity image (with mono16 encoding).
396 * \author Sergey Alexandrov
397 * \ingroup io
398 */
399 template <typename PointT>
401 {
402 using PointCloud = typename PointCloudImageExtractor<PointT>::PointCloud;
404
405 public:
406 using Ptr = shared_ptr<PointCloudImageExtractorFromIntensityField<PointT> >;
407 using ConstPtr = shared_ptr<const PointCloudImageExtractorFromIntensityField<PointT> >;
408
409 /** \brief Constructor.
410 * \param[in] scaling_method a scaling method to use (default SCALING_NO)
411 */
416
417 /** \brief Constructor.
418 * \param[in] scaling_factor a scaling factor to apply to each intensity value
419 */
421 : PointCloudImageExtractorWithScaling<PointT> ("intensity", scaling_factor)
422 {
423 }
424
425 /** \brief Destructor. */
427
428 protected:
429 // Members derived from the base class
433 };
434
435 }
436}
437
438#include <pcl/io/impl/point_cloud_image_extractors.hpp>
PointCloud represents the base class in PCL for storing collections of 3D points.
Image Extractor which uses the data present in the "curvature" field to produce a curvature map (as a...
shared_ptr< const PointCloudImageExtractorFromCurvatureField< PointT > > ConstPtr
PointCloudImageExtractorFromCurvatureField(const float scaling_factor)
Constructor.
~PointCloudImageExtractorFromCurvatureField() override=default
Destructor.
shared_ptr< PointCloudImageExtractorFromCurvatureField< PointT > > Ptr
PointCloudImageExtractorFromCurvatureField(const ScalingMethod scaling_method=PointCloudImageExtractorWithScaling< PointT >::SCALING_FULL_RANGE)
Constructor.
Image Extractor which uses the data present in the "intensity" field to produce a monochrome intensit...
PointCloudImageExtractorFromIntensityField(const float scaling_factor)
Constructor.
PointCloudImageExtractorFromIntensityField(const ScalingMethod scaling_method=PointCloudImageExtractorWithScaling< PointT >::SCALING_NO)
Constructor.
shared_ptr< const PointCloudImageExtractorFromIntensityField< PointT > > ConstPtr
shared_ptr< PointCloudImageExtractorFromIntensityField< PointT > > Ptr
~PointCloudImageExtractorFromIntensityField() override=default
Destructor.
Image Extractor which uses the data present in the "label" field to produce either monochrome or RGB ...
@ COLORS_RGB_GLASBEY
Fixed RGB colors from the Glasbey lookup table, assigned in the ascending order of label id.
shared_ptr< const PointCloudImageExtractorFromLabelField< PointT > > ConstPtr
void setColorMode(const ColorMode color_mode)
Set color mapping mode.
PointCloudImageExtractorFromLabelField(const ColorMode color_mode=COLORS_MONO)
Constructor.
~PointCloudImageExtractorFromLabelField() override=default
Destructor.
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &img) const override
Implementation of the extract() function, has to be implemented in deriving classes.
shared_ptr< PointCloudImageExtractorFromLabelField< PointT > > Ptr
Image Extractor which uses the data present in the "normal" field.
shared_ptr< const PointCloudImageExtractorFromNormalField< PointT > > ConstPtr
shared_ptr< PointCloudImageExtractorFromNormalField< PointT > > Ptr
~PointCloudImageExtractorFromNormalField() override=default
Destructor.
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &img) const override
Implementation of the extract() function, has to be implemented in deriving classes.
PointCloudImageExtractorFromNormalField()=default
Constructor.
Image Extractor which uses the data present in the "rgb" or "rgba" fields to produce a color image wi...
shared_ptr< const PointCloudImageExtractorFromRGBField< PointT > > ConstPtr
shared_ptr< PointCloudImageExtractorFromRGBField< PointT > > Ptr
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &img) const override
Implementation of the extract() function, has to be implemented in deriving classes.
PointCloudImageExtractorFromRGBField()=default
Constructor.
~PointCloudImageExtractorFromRGBField() override=default
Destructor.
Image Extractor which uses the data present in the "z" field to produce a depth map (as a monochrome ...
shared_ptr< const PointCloudImageExtractorFromZField< PointT > > ConstPtr
~PointCloudImageExtractorFromZField() override=default
Destructor.
PointCloudImageExtractorFromZField(const float scaling_factor=10000)
Constructor.
shared_ptr< PointCloudImageExtractorFromZField< PointT > > Ptr
PointCloudImageExtractorFromZField(const ScalingMethod scaling_method)
Constructor.
Base Image Extractor class for organized point clouds.
shared_ptr< PointCloudImageExtractor< PointT > > Ptr
virtual bool extractImpl(const PointCloud &cloud, pcl::PCLImage &image) const =0
Implementation of the extract() function, has to be implemented in deriving classes.
bool extract(const PointCloud &cloud, pcl::PCLImage &image) const
Obtain the image from the given cloud.
shared_ptr< const PointCloudImageExtractor< PointT > > ConstPtr
void setPaintNaNsWithBlack(bool flag)
Set a flag that controls if image pixels corresponding to NaN (infinite) points should be painted bla...
bool paint_nans_with_black_
A flag that controls if image pixels corresponding to NaN (infinite) points should be painted black.
virtual ~PointCloudImageExtractor()=default
Destructor.
Image Extractor extension which provides functionality to apply scaling to the values extracted from ...
~PointCloudImageExtractorWithScaling() override=default
Destructor.
shared_ptr< const PointCloudImageExtractorWithScaling< PointT > > ConstPtr
void setScalingMethod(const ScalingMethod scaling_method)
Set scaling method.
bool extractImpl(const PointCloud &cloud, pcl::PCLImage &image) const override
Implementation of the extract() function, has to be implemented in deriving classes.
shared_ptr< PointCloudImageExtractorWithScaling< PointT > > Ptr
void setScalingFactor(const float scaling_factor)
Set fixed scaling factor.
PointCloudImageExtractorWithScaling(const std::string &field_name, const float scaling_factor)
Constructor.
PointCloudImageExtractorWithScaling(const std::string &field_name, const ScalingMethod scaling_method)
Constructor.
A point structure representing Euclidean xyz coordinates, and the RGB color.