36 #include <pcl/pcl_macros.h>
37 #include <pcl/common/eigen.h>
46 float angle_x, angle_y;
49 float cosY = cosf (angle_y);
50 point = Eigen::Vector3f (range * sinf (angle_x) * cosY, range * sinf (angle_y), range * cosf (angle_x)*cosY);
59 range = transformedPoint.norm ();
60 float angle_x =
atan2LookUp (transformedPoint[0], transformedPoint[2]),
61 angle_y =
asinLookUp (transformedPoint[1]/range);