Point Cloud Library (PCL)
1.7.0
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012-, Open Perception, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the copyright holder(s) nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 */ 00035 00036 #include <pcl/pcl_macros.h> 00037 #include <pcl/common/eigen.h> 00038 00039 namespace pcl 00040 { 00041 00042 ///////////////////////////////////////////////////////////////////////// 00043 void 00044 RangeImageSpherical::calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const 00045 { 00046 float angle_x, angle_y; 00047 getAnglesFromImagePoint (image_x, image_y, angle_x, angle_y); 00048 00049 float cosY = cosf (angle_y); 00050 point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * cosf (angle_x)*cosY); 00051 point = to_world_system_ * point; 00052 } 00053 00054 ///////////////////////////////////////////////////////////////////////// 00055 inline void 00056 RangeImageSpherical::getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const 00057 { 00058 Eigen::Vector3f transformedPoint = to_range_image_system_ * point; 00059 range = transformedPoint.norm (); 00060 float angle_x = atan2LookUp (transformedPoint[0], transformedPoint[2]), 00061 angle_y = asinLookUp (transformedPoint[1]/range); 00062 getImagePointFromAngles (angle_x, angle_y, image_x, image_y); 00063 } 00064 ///////////////////////////////////////////////////////////////////////// 00065 void 00066 RangeImageSpherical::getAnglesFromImagePoint (float image_x, float image_y, float& angle_x, float& angle_y) const 00067 { 00068 angle_y = (image_y+static_cast<float> (image_offset_y_))*angular_resolution_y_ - 0.5f*static_cast<float> (M_PI); 00069 angle_x = ((image_x+ static_cast<float> (image_offset_x_))*angular_resolution_x_ - static_cast<float> (M_PI)); 00070 } 00071 ///////////////////////////////////////////////////////////////////////// 00072 void 00073 RangeImageSpherical::getImagePointFromAngles (float angle_x, float angle_y, float& image_x, float& image_y) const 00074 { 00075 image_x = (angle_x + static_cast<float> (M_PI))*angular_resolution_x_reciprocal_ - static_cast<float> (image_offset_x_); 00076 image_y = (angle_y + 0.5f*static_cast<float> (M_PI))*angular_resolution_y_reciprocal_ - static_cast<float> (image_offset_y_); 00077 } 00078 } // namespace end