39 #ifndef PCL_RANGE_IMAGE_PLANAR_IMPL_HPP_
40 #define PCL_RANGE_IMAGE_PLANAR_IMPL_HPP_
42 #include <pcl/pcl_macros.h>
43 #include <pcl/common/eigen.h>
49 template <
typename Po
intCloudType>
void
51 int di_width,
int di_height,
52 float di_center_x,
float di_center_y,
53 float di_focal_length_x,
float di_focal_length_y,
54 const Eigen::Affine3f& sensor_pose,
81 doZBuffer (point_cloud, noise_level, min_range, top, right, bottom, left);
97 point[2] = range / (sqrtf (delta_x*delta_x + delta_y*delta_y + 1));
98 point[0] = delta_x*point[2];
99 point[1] = delta_y*point[2];
108 if (transformedPoint[2]<=0)
110 image_x = image_y = range = -1.0f;
113 range = transformedPoint.norm ();