Point Cloud Library (PCL)
1.7.0
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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 #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_