kcp::keypoint::RangeImage Class Reference

A range image of a point cloud based on the spherical projection. More...

#include <kcp/keypoint.hpp>

Public Member Functions
	RangeImage (Eigen::MatrixX3d cloud, int n_channels=32, float min_vfov_deg=-30.0, float max_vfov_deg=10.0, int hfov_resolution=1800)
	Construct a new RangeImage object. More...
const Eigen::MatrixX3d &	get_cloud () const
	Get the point cloud. More...
int	get_n_channels () const
	Get the number of channels. More...
size_t	get_image_sequence_size () const
	Get the size of parameterized points for the range image. More...
const Eigen::MatrixXi &	get_image_indices () const
	Get the range image whose entry indicates the raw index of point. More...
const std::vector< float > &	get_image_depth_sequence () const
	Get the depths of points ordered by channels. More...
const std::vector< int > &	get_image_point_indices_sequence () const
	Get the raw indices of points ordered by channels. More...
const std::vector< int > &	get_image_col_indices_sequence () const
	Get the column (horizontal) indices of points ordered by channels. More...
const std::vector< int > &	get_channel_start_indices () const
	Get the starting index vector of all channels. More...
const std::vector< int > &	get_channel_end_indices () const
	Get the ending index vector of all channels. More...

Protected Member Functions
void	calculate_point_cloud_properties ()
	Compute the polar index of each point.
void	calculate_range_image ()
	Compute the corresponding range image of the given point cloud.

Protected Attributes
Eigen::MatrixX3d	cloud
	The point cloud.
std::vector< int >	channel
	Channel indices of raw points.
int	n_channels
	The number of channels (height of the range image). It is usually set to be the number of LiDAR beams.
float	min_vfov_deg
	The minimum vertical field of view (V-FOV) of the given point cloud.
float	max_vfov_deg
	The maximum vertical field of view (V-FOV) of the given point cloud.
int	hfov_resolution
	The resolution of 360-degree horizontal field of view.
Eigen::MatrixXi	image_indices
	The range image whose entry indicates the raw index of point.
std::vector< float >	image_depth_sequence
	The depths of points ordered by channels.
std::vector< int >	image_point_indices_sequence
	The raw indices of points ordered by channels.
std::vector< int >	image_col_indices_sequence
	The column (horizontal) indices of points ordered by channels.
std::vector< int >	channel_start_indices
	The starting index vector of all channels.
std::vector< int >	channel_end_indices
	The ending index vector of all channels.

Detailed Description

A range image of a point cloud based on the spherical projection.

Constructor & Destructor Documentation

RangeImage()

kcp::keypoint::RangeImage::RangeImage	(	Eigen::MatrixX3d	cloud,
		int	n_channels = 32,
		float	min_vfov_deg = -30.0,
		float	max_vfov_deg = 10.0,
		int	hfov_resolution = 1800
	)

Construct a new RangeImage object.

Parameters

cloud	The point cloud.
n_channels	The number of channels (height of the range image). It is usually set to be the number of LiDAR beams.
min_vfov_deg	The minimum vertical field of view (V-FOV) of the given point cloud.
max_vfov_deg	The maximum vertical field of view (V-FOV) of the given point cloud.
hfov_resolution	The resolution of 360-degree horizontal field of view.

Member Function Documentation

get_channel_end_indices()

const std::vector<int>& kcp::keypoint::RangeImage::get_channel_end_indices ( ) const

inline

Get the ending index vector of all channels.

Returns

const std::vector<int>&

get_channel_start_indices()

const std::vector<int>& kcp::keypoint::RangeImage::get_channel_start_indices ( ) const

inline

Get the starting index vector of all channels.

Returns

const std::vector<int>&

get_cloud()

const Eigen::MatrixX3d& kcp::keypoint::RangeImage::get_cloud ( ) const

inline

Get the point cloud.

Returns

const Eigen::MatrixX3d&

get_image_col_indices_sequence()

const std::vector<int>& kcp::keypoint::RangeImage::get_image_col_indices_sequence ( ) const

inline

Get the column (horizontal) indices of points ordered by channels.

Returns

const std::vector<int>&

get_image_depth_sequence()

const std::vector<float>& kcp::keypoint::RangeImage::get_image_depth_sequence ( ) const

inline

Get the depths of points ordered by channels.

Returns

const std::vector<float>&

get_image_indices()

const Eigen::MatrixXi& kcp::keypoint::RangeImage::get_image_indices ( ) const

inline

Get the range image whose entry indicates the raw index of point.

Returns

const Eigen::MatrixXi&

get_image_point_indices_sequence()

const std::vector<int>& kcp::keypoint::RangeImage::get_image_point_indices_sequence ( ) const

inline

Get the raw indices of points ordered by channels.

Returns

const std::vector<int>&

get_image_sequence_size()

size_t kcp::keypoint::RangeImage::get_image_sequence_size ( ) const

inline

Get the size of parameterized points for the range image.

Returns

size_t

get_n_channels()

int kcp::keypoint::RangeImage::get_n_channels ( ) const

inline

Get the number of channels.

Returns

int

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

• kcp/include/kcp/keypoint.hpp
• kcp/src/keypoint.cpp