91 lines
4.8 KiB
C++
91 lines
4.8 KiB
C++
/*******************************************************************************
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* BSD 3-Clause License
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*
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* Copyright (c) 2016-2025, Mech-Mind Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Info: https://www.mech-mind.com/
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*
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******************************************************************************/
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#pragma once
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#include "CameraProperties.h"
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#include "Frame2DAnd3D.h"
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namespace mmind {
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namespace eye {
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/**
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* @brief Uses a gray scale image as a mask to transform a depth map into a point cloud, the valid
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* points in the point cloud only contain the mapped depth for each valid pixel in the mask.
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* @note The unit of the translational component of the @ref CameraIntrinsics is mm. If the unit of
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* the point cloud is m, the point cloud cannot be correctly masked. Therefore, please set the
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* unit of the point cloud to mm using @ref Camera::setPointCloudUnit before calling this method.
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* @param [in] depthMap The input depth map. See @ref DepthMap for details.
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* @param [in] textureValidMask A mask image of the same size as the camera's 2D image, with valid
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* points set to 255 and invalid points to 0.
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* @param [in] intrinsics The camera intrinsics. See @ref CameraIntrinsics for details.
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* @param [out] pointCloud The output point cloud. See @ref PointCloud for details.
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* @return
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* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_INPUT_ERROR Input error.\n
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*/
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MMIND_API_EXPORT ErrorStatus getPointCloudAfterMapping(const DepthMap& depthMap,
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const GrayScale2DImage& textureValidMask,
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const CameraIntrinsics& intrinsics,
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PointCloud& pointCloud);
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/**
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* @brief Uses a gray scale image as a mask to transform a depth map and a texture image into a
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* textured point cloud, the valid points in the point cloud only contain the mapped depth for each
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* valid pixel in the mask.
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* @note The unit of the translational component of the @ref CameraIntrinsics is mm. If the unit of
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* the point cloud is m, the point cloud cannot be correctly masked and textured. Therefore, please
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* set the unit of the point cloud to mm using @ref Camera::setPointCloudUnit before calling this
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* method.
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* @param [in] depthMap The input depth map. See @ref DepthMap for details.
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* @param [in] textureValidMask A mask image of the same size as the camera's 2D image, with valid
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* points set to 255 and invalid points to 0.
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* @param [in] texture The input texture image. See @ref Color2DImage for details.
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* @param [in] intrinsics The camera intrinsics. See @ref CameraIntrinsics for details.
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* @param [out] pointCloud The output textured point cloud. See @ref TexturedPointCloud for details.
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* @return
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* @ref ErrorStatus.MMIND_STATUS_SUCCESS Success.\n
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* @ref ErrorStatus.MMIND_STATUS_INVALID_INPUT_ERROR Input error.\n
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*/
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MMIND_API_EXPORT ErrorStatus getPointCloudAfterMapping(const DepthMap& depthMap,
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const GrayScale2DImage& textureValidMask,
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const Color2DImage& texture,
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const CameraIntrinsics& intrinsics,
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TexturedPointCloud& pointCloud);
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} // namespace eye
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} // namespace mmind
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