#include <DepthMap.hpp>

Public Types
enum	DEPTH_MEASUREMENT_STATE { VALID_MEASUREMENT = 0, TOO_FAR = 1, TOO_NEAR = 2, MEASUREMENT_ERROR = 3 }

enum	PROJECTION_TYPE { POLAR, PLANAR }

enum	UNIT_AXIS { UNIT_X = 0, UNIT_Y = 1, UNIT_Z = 2 }

typedef float	scalar

typedef boost::uint32_t	uint32_t

typedef Eigen::Matrix< scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign\|Eigen::RowMajor >	DepthMatrix

typedef const Eigen::Matrix< scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign\|Eigen::RowMajor >	DepthMatrixConst

typedef Eigen::Map< DepthMatrix >	DepthMatrixMap

typedef const Eigen::Map< DepthMatrixConst >	DepthMatrixMapConst

Public Member Functions
	DepthMap ()

void	reset ()

DepthMatrixMap	getDistanceMatrixMap ()

DepthMatrixMapConst	getDistanceMatrixMapConst () const

DEPTH_MEASUREMENT_STATE	getIndexState (size_t index) const

DEPTH_MEASUREMENT_STATE	getMeasurementState (uint32_t v_index, uint32_t h_index) const

DEPTH_MEASUREMENT_STATE	getMeasurementState (scalar distance) const

bool	isIndexValid (size_t index) const

bool	isMeasurementValid (uint32_t v_index, uint32_t h_index) const

bool	isMeasurementValid (scalar distance) const

size_t	getIndex (uint32_t v_index, uint32_t h_index) const

template<typename T >
void	convertDepthMapToPointCloud (std::vector< T > &point_cloud, bool use_lut=false, bool skip_invalid_measurements=true) const

template<typename T >
void	convertDepthMapToPointCloud (std::vector< T > &point_cloud, const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &transformation, bool use_lut=false, bool skip_invalid_measurements=true) const

template<typename T >
void	convertDepthMapToPointCloud (std::vector< T > &point_cloud, const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &first_transformation, const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &last_transformation, bool use_lut=false, bool skip_invalid_measurements=true, bool apply_transforms_vertically=true) const

template<typename T >
void	convertDepthMapToPointCloud (std::vector< T > &point_cloud, const std::vector< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > > > &transformations, bool use_lut=false, bool skip_invalid_measurements=true, bool apply_transforms_vertically=true) const

Public Attributes
base::Time	time

std::vector< base::Time >	timestamps

PROJECTION_TYPE	vertical_projection

PROJECTION_TYPE	horizontal_projection

std::vector< double >	vertical_interval

std::vector< double >	horizontal_interval

uint32_t	vertical_size

uint32_t	horizontal_size

std::vector< scalar >	distances

std::vector< scalar >	remissions

Protected Member Functions
template<typename T >
void	convertSingleRow (std::vector< T > &point_cloud, unsigned int row, const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &row2column, const std::vector< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > > > &columns2pointcloud, const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &pointcloud2world, bool skip_invalid_measurements) const

template<typename T >
void	computeLocalTransformations (std::vector< Eigen::Transform< T, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< T, 3, Eigen::Affine > > > &rows2column, std::vector< Eigen::Transform< T, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< T, 3, Eigen::Affine > > > &columns2pointcloud, bool use_lut=false) const

template<typename T >
void	computeRotations (std::vector< Eigen::Transform< T, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< T, 3, Eigen::Affine > > > &rotations, const std::vector< base::Angle > &angles, UNIT_AXIS axis, bool use_lut=false) const

double	computeResolution (const std::vector< double > &interval, uint32_t elements, PROJECTION_TYPE projection) const

bool	checkSizeConfig () const

Detailed Description

The DepthMap type provides distance and optional remission values in 3D. The information is stored in a vector in a row major form, to simplify the usage as a distance image. One row is a set of horizontal arranged single measurements with an identical vertical position or angle. The distance and remission fields can therefore be seen as a image plane or a matrix. The horizontal and vertical intervals can be in polar or in planar form. In polar they are interpreted as angles and in planar form they are interpreted as coordinates on a depth-image plane. Horizontal intervals are always defined from left to right and vertical intervals are always defined top down. Each field of intervals can either have two entries, which define a range of regular arranged measurements, or one entry per measurement to represent the irregular case.

Member Typedef Documentation

◆ DepthMatrix

typedef Eigen::Matrix<scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign | Eigen::RowMajor> base::samples::DepthMap::DepthMatrix

◆ DepthMatrixConst

typedef const Eigen::Matrix<scalar, Eigen::Dynamic, Eigen::Dynamic, Eigen::DontAlign | Eigen::RowMajor> base::samples::DepthMap::DepthMatrixConst

◆ DepthMatrixMap

typedef Eigen::Map< DepthMatrix > base::samples::DepthMap::DepthMatrixMap

◆ DepthMatrixMapConst

typedef const Eigen::Map< DepthMatrixConst > base::samples::DepthMap::DepthMatrixMapConst

◆ scalar

typedef float base::samples::DepthMap::scalar

◆ uint32_t

typedef boost::uint32_t base::samples::DepthMap::uint32_t

Member Enumeration Documentation

◆ DEPTH_MEASUREMENT_STATE

enum base::samples::DepthMap::DEPTH_MEASUREMENT_STATE

Enumerator
VALID_MEASUREMENT
TOO_FAR
TOO_NEAR
MEASUREMENT_ERROR

◆ PROJECTION_TYPE

enum base::samples::DepthMap::PROJECTION_TYPE

Enumerator
POLAR
PLANAR

◆ UNIT_AXIS

enum base::samples::DepthMap::UNIT_AXIS

Enumerator
UNIT_X
UNIT_Y
UNIT_Z

Constructor & Destructor Documentation

◆ DepthMap()

base::samples::DepthMap::DepthMap ( )

inline

Member Function Documentation

◆ checkSizeConfig()

bool base::samples::DepthMap::checkSizeConfig ( ) const

protected

Checks if the vertical and horizontal sizes match the size of distance vector.

◆ computeLocalTransformations()

template<typename T >

void base::samples::DepthMap::computeLocalTransformations	(	std::vector< Eigen::Transform< T, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< T, 3, Eigen::Affine > > > &	rows2column,
		std::vector< Eigen::Transform< T, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< T, 3, Eigen::Affine > > > &	columns2pointcloud,
		bool	use_lut = `false`
	)		const

inlineprotected

Helper method to compute the local rows2column and columns2pointcloud transformations.

◆ computeResolution()

double base::samples::DepthMap::computeResolution	(	const std::vector< double > &	interval,
		uint32_t	elements,
		PROJECTION_TYPE	projection
	)		const

inlineprotected

Computes the resolution in a given interval.

◆ computeRotations()

template<typename T >

void base::samples::DepthMap::computeRotations	(	std::vector< Eigen::Transform< T, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< T, 3, Eigen::Affine > > > &	rotations,
		const std::vector< base::Angle > &	angles,
		UNIT_AXIS	axis,
		bool	use_lut = `false`
	)		const

inlineprotected

Helper method to compute the rotations around an unit axis.

◆ convertDepthMapToPointCloud() [1/4]

template<typename T >

void base::samples::DepthMap::convertDepthMapToPointCloud	(	std::vector< T > &	point_cloud,
		bool	use_lut = `false`,
		bool	skip_invalid_measurements = `true`
	)		const

inline

Converts the depth map to a pointcloud in the coordinate system of the sensor (x-axis = forward, y-axis = to the left, z-axis = upwards). If the resulting pointcloud should be associated with the remission values the invalid measurements should not be skipped. The template point type must be derived from a 3D eigen vector.

Parameters

point_cloud	returned pointcloud
use_lut	true, if lookup table for single unit axis rotations shall be used
skip_invalid_measurements	true, if invalid measurements should be skipped

◆ convertDepthMapToPointCloud() [2/4]

template<typename T >

void base::samples::DepthMap::convertDepthMapToPointCloud	(	std::vector< T > &	point_cloud,
		const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &	transformation,
		bool	use_lut = `false`,
		bool	skip_invalid_measurements = `true`
	)		const

inline

Converts the depth map to a pointcloud according to the given transformation matrix. If the transformation matrix is set to identity the depth map is converted into the coordinate system of the sensor (x-axis = forward, y-axis = to the left, z-axis = upwards). If the resulting pointcloud should be associated with the remission values the invalid measurements should not be skipped. The template point type must be derived from a 3D eigen vector.

Parameters

point_cloud	returned pointcloud
transformation	all points will be transformed using this transformation
use_lut	true, if lookup table for single unit axis rotations shall be used
skip_invalid_measurements	true, if invalid measurements should be skipped

◆ convertDepthMapToPointCloud() [3/4]

template<typename T >

void base::samples::DepthMap::convertDepthMapToPointCloud	(	std::vector< T > &	point_cloud,
		const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &	first_transformation,
		const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &	last_transformation,
		bool	use_lut = `false`,
		bool	skip_invalid_measurements = `true`,
		bool	apply_transforms_vertically = `true`
	)		const

inline

Converts the depth map to a pointcloud according to the given transformation matrices. On basis of the first and last transformation the transformations will be interpolated and applied row-wise if the parameter apply_transforms_vertically is set to true, otherwise they will be interpolated and applied col-wise.

Parameters

point_cloud	returned pointcloud
first_transformation	transformation of the first row or column
last_transformation	translation of the last row or column
use_lut	true, if lookup table for single unit axis rotations shall be used
skip_invalid_measurements	true, if invalid measurements should be skipped
apply_transforms_vertically	true, if transformations should be applied row-wise

◆ convertDepthMapToPointCloud() [4/4]

template<typename T >

void base::samples::DepthMap::convertDepthMapToPointCloud	(	std::vector< T > &	point_cloud,
		const std::vector< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > > > &	transformations,
		bool	use_lut = `false`,
		bool	skip_invalid_measurements = `true`,
		bool	apply_transforms_vertically = `true`
	)		const

inline

Converts the depth map to a pointcloud according to the given transformation matrices. Each transformation in the given vector will be applied to each row if the parameter apply_transforms_vertically is set to true, otherwise it will be applied col-wise. The transformations vector therefore must have either the same size of the columns or the rows.

Parameters

point_cloud	returned pointcloud
transformations	vector of transformation matrices
use_lut	true, if lookup table for single unit axis rotations shall be used
skip_invalid_measurements	true, if invalid measurements should be skipped
apply_transforms_vertically	true, if transformations should be applied row-wise

◆ convertSingleRow()

template<typename T >

void base::samples::DepthMap::convertSingleRow	(	std::vector< T > &	point_cloud,
		unsigned int	row,
		const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &	row2column,
		const std::vector< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine >, Eigen::aligned_allocator< Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > > > &	columns2pointcloud,
		const Eigen::Transform< typename T::Scalar, 3, Eigen::Affine > &	pointcloud2world,
		bool	skip_invalid_measurements
	)		const

inlineprotected

Helper method which converts a single row to a pointcloud.

◆ getDistanceMatrixMap()

DepthMap::DepthMatrixMap base::samples::DepthMap::getDistanceMatrixMap ( )

Creates a mapping to a eigen matrix with dynamic sizes

◆ getDistanceMatrixMapConst()

DepthMap::DepthMatrixMapConst base::samples::DepthMap::getDistanceMatrixMapConst ( ) const

Creates a mapping to a const eigen matrix with dynamic sizes

◆ getIndex()

std::size_t base::samples::DepthMap::getIndex	(	DepthMap::uint32_t	v_index,
		DepthMap::uint32_t	h_index
	)		const

Computes the index in the distance and remission vector of a given vertical and horizontal index. Note that the data is stored in row major form.

◆ getIndexState()

DepthMap::DEPTH_MEASUREMENT_STATE base::samples::DepthMap::getIndexState ( size_t index ) const

Returns the measurement state of a given index.

Parameters

index of the measurement

◆ getMeasurementState() [1/2]

DepthMap::DEPTH_MEASUREMENT_STATE base::samples::DepthMap::getMeasurementState	(	DepthMap::uint32_t	v_index,
		DepthMap::uint32_t	h_index
	)		const

Returns the measurement state of a given vertical and horizontal index.

Parameters

v_index
h_index

◆ getMeasurementState() [2/2]

DepthMap::DEPTH_MEASUREMENT_STATE base::samples::DepthMap::getMeasurementState ( DepthMap::scalar distance ) const

Returns the measurement state of a given measurement

Parameters

distance measurement

◆ isIndexValid()

bool base::samples::DepthMap::isIndexValid ( size_t index ) const

Returns true if the measurement at the given index is valid.

Parameters

index of the measurement

◆ isMeasurementValid() [1/2]

bool base::samples::DepthMap::isMeasurementValid	(	DepthMap::uint32_t	v_index,
		DepthMap::uint32_t	h_index
	)		const

Returns true if the measurement at the given vertical and horizontal index is valid.

Parameters

v_index
h_index

◆ isMeasurementValid() [2/2]

bool base::samples::DepthMap::isMeasurementValid ( DepthMap::scalar distance ) const

Returns true if the measurement is valid.

Parameters

distance measurement

◆ reset()

void base::samples::DepthMap::reset ( )

Reset the sample

Member Data Documentation

◆ distances

std::vector<scalar> base::samples::DepthMap::distances

The distance samples. The data is arranged in a row major order to simplify the usage as a distance image. One row is a set of horizontal arranged single measurements. The data for a measurement (vertical_index, horizontal_index) is in distances[(vertical_index * horizontal_size) + horizontal_index].

◆ horizontal_interval

std::vector<double> base::samples::DepthMap::horizontal_interval

The interval can describe a position on a planar plane or an angle. The interval is interpreted as defined by the horizontal projection type. In planar projection mode the horizontal intervals are x coordinates on an depth-image plane, with zero in the middle of the plane. In polar projection mode the horizontal intervals are angular rotations around the Z-unit axis. Horizontal angles must always be ordered from a higher to a smaller value, since the columns of the data matrices are interpreted from the left to the right. The field has either two or |horizontal_size| entries. In the case of two entries the intervals are interpreted as left and right boundaries. The transformation for each measurement will be interpolated.

◆ horizontal_projection

PROJECTION_TYPE base::samples::DepthMap::horizontal_projection

Defines the horizontal projection type of the depth map. If polar, the horizontal intervals are angular rotations around the Z-unit axis. If planar, the horizontal intervals are positions on an image plane coordinate frame.

◆ horizontal_size

uint32_t base::samples::DepthMap::horizontal_size

Number of horizontal depth samples

◆ remissions

std::vector<scalar> base::samples::DepthMap::remissions

The remission samples. This field is optional. The data is arranged in a row major order to simplify the usage as a remission image. The data for a value (vertical_index, horizontal_index) is in remissions[(vertical_index * horizontal_size) + horizontal_index].

◆ time

base::Time base::samples::DepthMap::time

Reference timestamp for the depth map sample. This timestamp is used for temporal alignment to other data samples and transformations. It is important to always set here a meaningful value.

◆ timestamps

std::vector<base::Time> base::samples::DepthMap::timestamps

The timestamps can be either one timestamp for all measurements, two for interpolation, per vertical entries, per horizontal entries or one per measurement.

◆ vertical_interval

std::vector<double> base::samples::DepthMap::vertical_interval

The interval can describe a position on a planar plane or an angle. The interval is interpreted as defined by the vertical projection type. In planar projection mode the vertical intervals are y coordinates on an depth-image plane, with zero in the middle of the plane. In polar projection mode the vertical intervals are angular rotations around the Y-unit axis. Vertical angles must always be ordered from a smaller to a higher value, since the rows of the data matrices are interpreted from the upper to the lower row. The field has either two or |vertical_size| entries. In the case of two entries the intervals are interpreted as upper and under boundaries. The transformation for each measurement will be interpolated.

◆ vertical_projection

PROJECTION_TYPE base::samples::DepthMap::vertical_projection

Defines the vertical projection type of the depth map. If polar, the vertical intervals are angular rotations around the Y-unit axis. If planar, the vertical intervals are positions on an image plane coordinate frame.

◆ vertical_size

uint32_t base::samples::DepthMap::vertical_size

Number of vertical depth samples

The documentation for this struct was generated from the following files:

/home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/DepthMap.hpp
/home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/samples/DepthMap.cpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Member Typedef Documentation

◆ DepthMatrix

◆ DepthMatrixConst

◆ DepthMatrixMap

◆ DepthMatrixMapConst

◆ scalar

◆ uint32_t

Member Enumeration Documentation

◆ DEPTH_MEASUREMENT_STATE

◆ PROJECTION_TYPE

◆ UNIT_AXIS

Constructor & Destructor Documentation

◆ DepthMap()

Member Function Documentation

◆ checkSizeConfig()

◆ computeLocalTransformations()

◆ computeResolution()

◆ computeRotations()

◆ convertDepthMapToPointCloud() [1/4]

◆ convertDepthMapToPointCloud() [2/4]

◆ convertDepthMapToPointCloud() [3/4]

◆ convertDepthMapToPointCloud() [4/4]

◆ convertSingleRow()

◆ getDistanceMatrixMap()

◆ getDistanceMatrixMapConst()

◆ getIndex()

◆ getIndexState()

◆ getMeasurementState() [1/2]

◆ getMeasurementState() [2/2]

◆ isIndexValid()

◆ isMeasurementValid() [1/2]

◆ isMeasurementValid() [2/2]

◆ reset()

Member Data Documentation

◆ distances

◆ horizontal_interval

◆ horizontal_projection

◆ horizontal_size

◆ remissions

◆ time

◆ timestamps

◆ vertical_interval

◆ vertical_projection

◆ vertical_size