Depth Map To Point Cloud Converter 3D

1 개요

카메라의 내부 파라미터를 사용해 Depth Map Image에서 Point Cloud를 생성합니다.

\begin{aligned} X &= z \cdot \frac{(x - p_x)}{f_x} \\ Y &= z \cdot \frac{(y - p_y)}{f_y} \\ Z &= z \end{aligned}

기본적으로 위와 같은 Projection Model을 사용합니다.

2 알고리즘 상세 설명

Depth Map Image	Texture Image	Result Point Cloud

Fig. Depth Map Image, Texture Image, ROI 설정 및 실행 결과

3 파라미터 설정

Depth Map Image	Texture Image

Color Camera, Depth Camera가 나누어진 경우 두 카메라 중 정렬의 기준이 되는 카메라의 Intrinsic Parameter를 사용해야합니다. 위 예시는 Depth Map Image가 Texture에 맞춰 정렬된 결과이며, Point Cloud 생성 시 Color Camera의 Intrinsic Parameter를 사용합니다.

SetIntrinsicParameter(CFLPoint<float> flpFocalLength, CFLPoint<float> flpPrincipalPoint)
- 카메라 내부 파라미터를 설정합니다.
- flpFocalLength, flpPrincipalPoint : 카메라의 초점 거리 및 주점
SetDistortionCoefficient(CFLArray<double> flaDistortionCoeff)
- 카메라 왜곡 계수를 설정합니다.
- flaDistortionCoeff : 카메라 왜곡 계수
const CResult SetDirectionType(EDirectionType eDirectionType);
- z축의 증가 또는 감소 방향을 바라보는 방향으로 지정할 수 있습니다.
- EDirectionType_Increment : 증가 방향
- EDirectionType_Decrement : 감소 방향
EnableIncludeNormalVector(bool bNormal)
- 법선 벡터를 계산하여 결과에 포함할지 여부를 설정합니다.
- true : 법선 벡터를 계산합니다.
- Default Value : true

4 예제 코드

CDepthMapToPointCloudConverter3D DepthMapToPointCloud;

CFLImage fliSourceImage;
DepthMapToPointCloud.SetSourceImage(fliSourceImage);

CFLImage fliTextureImage;
DepthMapToPointCloud.SetTextureImage(fliTextureImage);

CFL3DObject floDestinationObject;
DepthMapToPointCloud.SetDestinationObject(floDestinationObject);
DepthMapToPointCloud.SetDirectionType(EDirectionType::EDirectionType_Increment);

CFLPoint<float> flpFocalLength;
CFLPoint<float> flpPrincipalPoint;

DepthMapToPointCloud.SetIntrinsicParameter(flpFocalLength, flpPrincipalPoint); // 카메라 내부 행렬 설정

CFLArray<double> flaDistortionCoef;
flaDistortionCoef.PushBack(0);
flaDistortionCoef.PushBack(0);
flaDistortionCoef.PushBack(0);
flaDistortionCoef.PushBack(0);
flaDistortionCoef.PushBack(0);
DepthMapToPointCloud.SetDistortionCoefficient(flaDistortionCoef); // 왜곡 계수 설정

DepthMapToPointCloud.Execute();

CDepthMapToPointCloudConverter3D DepthMapToPointCloud = new CDepthMapToPointCloudConverter3D();

CFLImage fliSourceImage = new CFLImage();
DepthMapToPointCloud.SetSourceImage(ref fliSourceImage);

CFLImage fliTextureImage = new CFLImage();
DepthMapToPointCloud.SetTextureImage(ref fliTextureImage);

CFL3DObject floDestinationObject = new CFL3DObject();
DepthMapToPointCloud.SetDestinationObject(ref floDestinationObject);
DepthMapToPointCloud.SetDirectionType(EDirectionType.Increment);

CFLPoint<float> flpFocalLength = new CFLPoint<float>();
CFLPoint<float> flpPrincipalPoint = new CFLPoint<float>();
	
DepthMapToPointCloud.SetIntrinsicParameter(flpFocalLength, flpPrincipalPoint); // 카메라 내부 행렬 설정

List<double> listDistortionCoef = new List<double>();

listDistortionCoef.Add(0);
listDistortionCoef.Add(0);
listDistortionCoef.Add(0);
listDistortionCoef.Add(0);
listDistortionCoef.Add(0);
DepthMapToPointCloud.SetDistortionCoefficient(listDistortionCoef); // 왜곡 계수 설정
DepthMapToPointCloud.Execute();

DepthMapToPointCloud = CDepthMapToPointCloudConverter3D()

fliSourceImage = CFLImage()
DepthMapToPointCloud.SetSourceImage(fliSourceImage)

fliTextureImage = CFLImage()
DepthMapToPointCloud.SetTextureImage(fliTextureImage)

floDestinationObject = CFL3DObject()
DepthMapToPointCloud.SetDestinationObject(floDestinationObject)
DepthMapToPointCloud.SetDirectionType(EDirectionType.Increment)

flpFocalLength = CFLPoint[Single]
flpPrincipalPoint = CFLPoint[Single]
	
DepthMapToPointCloud.SetIntrinsicParameter(flpFocalLength, flpPrincipalPoint) # 카메라 내부 행렬 설정

listDistortionCoef = List[Double]()

listDistortionCoef.Add(0)
listDistortionCoef.Add(0)
listDistortionCoef.Add(0)
listDistortionCoef.Add(0)
listDistortionCoef.Add(0)
DepthMapToPointCloud.SetDistortionCoefficient(listDistortionCoef)
DepthMapToPointCloud.Execute()