Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/common/include/pcl/range_image/range_image_spherical.h
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00034 
00035 #ifndef PCL_RANGE_IMAGE_SPHERICAL_H_
00036 #define PCL_RANGE_IMAGE_SPHERICAL_H_
00037 
00038 #include <pcl/range_image/range_image.h>
00039 
00040 namespace pcl
00041 {
00042   /** \brief @b RangeImageSpherical is derived from the original range image and uses a slightly different
00043     * spherical projection. In the original range image, the image will appear more and more
00044     * "scaled down" along the y axis, the further away from the mean line of the image a point is.
00045     * This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors
00046     * that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the
00047     * range image. (This class is similar to RangeImagePlanar, but changes less of the behaviour of the base class.)
00048     * \author Andreas Muetzel
00049     * \ingroup range_image
00050     */
00051   class RangeImageSpherical : public RangeImage
00052   {
00053     public:
00054       // =====TYPEDEFS=====
00055       typedef RangeImage BaseClass;
00056       typedef boost::shared_ptr<RangeImageSpherical> Ptr;
00057       typedef boost::shared_ptr<const RangeImageSpherical> ConstPtr;
00058 
00059       // =====CONSTRUCTOR & DESTRUCTOR=====
00060       /** Constructor */
00061       PCL_EXPORTS RangeImageSpherical () {}
00062       /** Destructor */
00063       PCL_EXPORTS virtual ~RangeImageSpherical () {}
00064 
00065       /** Return a newly created RangeImagePlanar.
00066        *  Reimplmentation to return an image of the same type. */
00067       virtual RangeImage*
00068       getNew () const { return new RangeImageSpherical; }
00069 
00070       // =====PUBLIC METHODS=====
00071       /** \brief Get a boost shared pointer of a copy of this */
00072       inline Ptr
00073       makeShared () { return Ptr (new RangeImageSpherical (*this)); }
00074 
00075 
00076       // Since we reimplement some of these overloaded functions, we have to do the following:
00077       using RangeImage::calculate3DPoint;
00078       using RangeImage::getImagePoint;
00079 
00080       /** \brief Calculate the 3D point according to the given image point and range
00081         * \param image_x the x image position
00082         * \param image_y the y image position
00083         * \param range the range
00084         * \param point the resulting 3D point
00085         * \note Implementation according to planar range images (compared to spherical as in the original)
00086         */
00087       virtual inline void
00088       calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const;
00089 
00090       /** \brief Calculate the image point and range from the given 3D point
00091         * \param point the resulting 3D point
00092         * \param image_x the resulting x image position
00093         * \param image_y the resulting y image position
00094         * \param range the resulting range
00095         * \note Implementation according to planar range images (compared to spherical as in the original)
00096         */
00097       virtual inline void
00098       getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const;
00099 
00100       /** Get the angles corresponding to the given image point */
00101       inline void
00102       getAnglesFromImagePoint (float image_x, float image_y, float& angle_x, float& angle_y) const;
00103 
00104       /** Get the image point corresponding to the given ranges */
00105       inline void
00106       getImagePointFromAngles (float angle_x, float angle_y, float& image_x, float& image_y) const;
00107 
00108   };
00109 }  // namespace end
00110 
00111 
00112 #include <pcl/range_image/impl/range_image_spherical.hpp>  // Definitions of templated and inline functions
00113 
00114 #endif  //#ifndef PCL_RANGE_IMAGE_SPHERICAL_H_