#include <Image/PMDImageProc.hh>

Static Public Member Functions
static int	AddNoiseToDepthImage (Image< float > &ImgDepth)
	This function adds noise to a depth image. More...

static double	CalcSigmaDepth (const Image< float > &ImgDepth, const unsigned int x, const unsigned int y, const unsigned int HalfWinSize)
	Give the standard deviation for a pixel in the depth image. More...

static int	CrossCheck (Image< float > &cIm, const Projection &cP, std::vector< const Image< float > * > &cImCheck, std::vector< const Projection * > &cPCheck, int searchSize=3)
	Projects all points != 0 in image cIm to both other images cIm1 and cIm2 and checks whether the 3D point projects to a valid point !=0 in the other images or if a valid point !=0 exists in the neighbourhood of size searchSize. More...

static void	DeleteHighVarianceValues (BIAS::Image< float > &img, const double sigmaThresh, const int halfwinSize=1)
	Deletes (sets to 0) pixels in PMD-Image with a local variance > sigmaThresh. More...

static int	DenoiseDepthImage (Image< float > &ImgDepth, int size=1, double sigmaVarianz=0.5)
	This function denoises a PMD-Depth image by Median and variance filtering. More...

static void	Fit2DToDepthImage (Image< float > &depthImage, Image< unsigned char > &textureImage, Projection &depthProj, Projection &textureProj, Image< unsigned char > &newColorImage)
	calculates a color image of the size of the depth image by projecting every pixel of the depth image to 3D space and projecting it back to the color image using the color image projection More...

static int	FitDepthTo2DImage (Image< float > &ImgDepth, const PMDImageMetaData &MetaData2D, PMDImageMetaData &MetaDataDepth)
	convert a depth image such that the depth and the grey value at the same pixel position belong to the same ray. More...

static int	FitDepthTo2DImage (Image< float > &ImageDepth, const BIAS::Projection &proj2D, const BIAS::Projection &projDepth, int kernelsize=0)

static int	FitModCoeffTo2DImage (Image< float > &ImgModCoeff, const Image< float > &ImgDepth, const PMDImageMetaData &MetaData2D, PMDImageMetaData &MetaDataDepth)

static KMatrix	KFromMeta (const PMDImageMetaData &MetaData)

static void	LimitDepthSpread (BIAS::Image< float > &depthImage, float maxDeviation)
	use to limit the depth spread to a certain range around the More...

static void	MarkHighVarianceValues (const BIAS::Image< float > &img, BIAS::Image< float > &mark, double sigmaThresh, int halfwinSize=1)
	Markes pixels in PMD-Image with a local variance > sigmaThresh. More...

static PMDImageMetaData	MetaFromPoseAndK (const Pose &Po, const KMatrix &K, int width, int height, int channels)

static Pose	PoseFromMeta (const PMDImageMetaData &MetaData)

static void	ScaleDepthImage (Image< float > &ImgDepth, double scaleFactor)
	This function scales the depth image with the given scale factor. More...

Static Protected Member Functions
static int	FitDepthTo2DImageFree_ (Image< float > &ImgToModify, const Image< float > &ImgDepth, const PMDImageMetaData &MetaData2D, PMDImageMetaData &MetaDataDepth)

static int	FitDepthTo2DImageHomogr_ (Image< float > &ImgToModify, const PMDImageMetaData &MetaData2D, PMDImageMetaData &MetaDataDepth)

static int	FitDepthTo2DImageKOnly_ (Image< float > &ImgToModify, const PMDImageMetaData &MetaData2D, PMDImageMetaData &MetaDataDepth)
	These methods transform the depth image to fit the 2D-image. More...

static HMatrix	HFromMeta_ (const PMDImageMetaData &MetaData2D, const PMDImageMetaData &MetaDataDepth)
	Create a H-Matrix that converts the depth image to the 2D view. More...

Detailed Description

Definition at line 41 of file PMDImageProc.hh.

Member Function Documentation

int PMDImageProc::AddNoiseToDepthImage ( Image< float > & ImgDepth )

static

This function adds noise to a depth image.

The intention is to add noise to a synthetically created depth image. The noise sigma is similar to that of a good conditioned PMD-measurement.

Definition at line 512 of file PMDImageProc.cpp.

References CalcSigmaDepth(), BIAS::ImageBase::GetHeight(), BIAS::Random::GetNormalDistributed(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::PixelValue(), and BIAS::Image< StorageType >::SetPixel().

double PMDImageProc::CalcSigmaDepth	(	const Image< float > &	ImgDepth,
		const unsigned int	x,
		const unsigned int	y,
		const unsigned int	HalfWinSize
	)

static

Give the standard deviation for a pixel in the depth image.

Measurement precision polynome was taken from: M.Stommel K.-D.Kuhnert "Fusion of Stereo-Camera and PMD-Camera Data for Real-Time Suited Precise 3D Environment Reconstruction"

Returns: the sigma of the pixel depth depending on the precision formula and the surrounding pixels.

Definition at line 544 of file PMDImageProc.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), and BIAS::Image< StorageType >::PixelValue().

Referenced by AddNoiseToDepthImage().

int PMDImageProc::CrossCheck	(	BIAS::Image< float > &	cIm,
		const Projection &	cP,
		std::vector< const Image< float > * > &	cImCheck,
		std::vector< const Projection * > &	cPCheck,
		int	searchSize = `3`
	)

static

Projects all points != 0 in image cIm to both other images cIm1 and cIm2 and checks whether the 3D point projects to a valid point !=0 in the other images or if a valid point !=0 exists in the neighbourhood of size searchSize.

If no valid points can be found in the other images in cImCheck the pixel in image cIm is invalidated (=0).

Parameters

cIm[in][out],:	the image to check and invalidate.
cImCheck[in],:	the images to check against.
cPCheck[in],:	the projections to check against, same order as in cImCheck.
searchSize[in],:	the area around a projected pixel to search for neighbours (default = 3).

Returns: number of deleted pixels, -1 on error

Author: ischiller

Date: 08/2010

Definition at line 645 of file PMDImageProc.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::Projection::GetParameters(), BIAS::ImageBase::GetWidth(), BIAS::HomgPoint2D, and BIAS::ProjectionParametersBase::UnProjectToPoint().

void PMDImageProc::DeleteHighVarianceValues	(	BIAS::Image< float > &	img,
		const double	sigmaThresh,
		const int	halfwinSize = `1`
	)

static

Deletes (sets to 0) pixels in PMD-Image with a local variance > sigmaThresh.

Eleminates depth noise.

Author: grest

Definition at line 581 of file PMDImageProc.cpp.

References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), and BIAS::ImageBase::GetWidth().

int PMDImageProc::DenoiseDepthImage	(	Image< float > &	ImgDepth,
		int	size = `1`,
		double	sigmaVarianz = `0.5`
	)

static

This function denoises a PMD-Depth image by Median and variance filtering.

Sets noise pixels to zero.

Definition at line 498 of file PMDImageProc.cpp.

References BIAS::Median< InputStorageType, OutputStorageType >::Filter(), BIAS::FilterBase< InputStorageType, OutputStorageType >::SetBorderHandling(), and BIAS::Median< InputStorageType, OutputStorageType >::SetSize().

void PMDImageProc::Fit2DToDepthImage	(	Image< float > &	depthImage,
		Image< unsigned char > &	textureImage,
		Projection &	depthProj,
		Projection &	textureProj,
		Image< unsigned char > &	newColorImage
	)

static

calculates a color image of the size of the depth image by projecting every pixel of the depth image to 3D space and projecting it back to the color image using the color image projection

Parameters

depthImage[in]	: the depth imahe to use
textureImage[in]	: the original color image
depthProj[in]	: projection corresponding to depthImage
textureProj[in]	: projection corresponding to textureImage
newColorImage[out],:	calculated new color image, same size as depthImage

Author: ischiller

Date: 08/2010

Definition at line 324 of file PMDImageProc.cpp.

References BIAS::Projection::DoesPointProjectIntoImage(), BIAS::Image< StorageType >::FillImageWithConstValue(), BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetWidth(), BIAS::HomgPoint2D, BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), BIAS::ImageBase::ReInit(), and BIAS::Projection::UnProjectToPoint().

int PMDImageProc::FitDepthTo2DImage	(	Image< float > &	ImgDepth,
		const PMDImageMetaData &	MetaData2D,
		PMDImageMetaData &	MetaDataDepth
	)

static

convert a depth image such that the depth and the grey value at the same pixel position belong to the same ray.

The transformation information is taken from the metadata. MetaDataDepth is changed for the converted depth image and is identical to MetaData2D afterwards

Parameters

ImgDepth	is the image to convert. This image has to contain depth information and is changed in size and contents.
MetaData2D	this is the metadata for the 2D-image.
MetaDataDepth	the metadata for the depth image. Is adapted to reflect the image transformation.

Author: Birger Streckel

Examples:: ExamplePMDImageIO.cpp.

Definition at line 131 of file PMDImageProc.cpp.

References BIAS::PMDImageMetaData::CameraCenter, BIAS::PMDImageMetaData::CameraRotation, and BIAS::Equal().

int PMDImageProc::FitDepthTo2DImage	(	Image< float > &	ImageDepth,
		const BIAS::Projection &	proj2D,
		const BIAS::Projection &	projDepth,
		int	kernelsize = `0`
	)

static

Definition at line 42 of file PMDImageProc.cpp.

References BIAS::Dilation< InputStorageType, OutputStorageType >::Filter(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ProjectionParametersBase::GetImageSize(), BIAS::Projection::GetParameters(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::Vector3< T >::NormL2(), BIAS::Projection::Project(), BIAS::FilterBase< InputStorageType, OutputStorageType >::SetBorderHandling(), BIAS::Morphology< InputStorageType, OutputStorageType >::SetKernelSize(), BIAS::ImageBase::SetZero(), and BIAS::Projection::UnProjectToPoint().

int PMDImageProc::FitDepthTo2DImageFree_	(	Image< float > &	ImgToModify,
		const Image< float > &	ImgDepth,
		const PMDImageMetaData &	MetaData2D,
		PMDImageMetaData &	MetaDataDepth
	)

staticprotected

int PMDImageProc::FitDepthTo2DImageHomogr_	(	Image< float > &	ImgToModify,
		const PMDImageMetaData &	MetaData2D,
		PMDImageMetaData &	MetaDataDepth
	)

staticprotected

Definition at line 303 of file PMDImageProc.cpp.

References BIAS::PMDImageMetaData::height, BIAS::Matrix3x3< T >::IsIdentity(), BIAS::BackwardMapping< InputStorageType, OutputStorageType >::Map(), BIAS::HomographyMapping< InputStorageType, OutputStorageType >::SetHomography(), and BIAS::PMDImageMetaData::width.

int PMDImageProc::FitDepthTo2DImageKOnly_	(	Image< float > &	ImgToModify,
		const PMDImageMetaData &	MetaData2D,
		PMDImageMetaData &	MetaDataDepth
	)

staticprotected

These methods transform the depth image to fit the 2D-image.

After transformation the Depth for every 2D-point is at the same pixel position in the depth image. There are 3 steps of transformaiton complexity: Only K, Only Rot+K, Free.

Author: Birger Streckel

Definition at line 189 of file PMDImageProc.cpp.

References BIAS::PMDImageMetaData::height, BIAS::KMatrix::Invert(), BIAS::Matrix3x3< T >::IsIdentity(), BIAS::BackwardMapping< InputStorageType, OutputStorageType >::Map(), BIAS::HomographyMapping< InputStorageType, OutputStorageType >::SetHomography(), and BIAS::PMDImageMetaData::width.

int PMDImageProc::FitModCoeffTo2DImage	(	Image< float > &	ImgModCoeff,
		const Image< float > &	ImgDepth,
		const PMDImageMetaData &	MetaData2D,
		PMDImageMetaData &	MetaDataDepth
	)