38 #ifndef PCL_RANGE_IMAGE_PLANAR_H_
39 #define PCL_RANGE_IMAGE_PLANAR_H_
41 #include <pcl/range_image/range_image.h>
57 typedef boost::shared_ptr<RangeImagePlanar>
Ptr;
58 typedef boost::shared_ptr<const RangeImagePlanar>
ConstPtr;
72 PCL_EXPORTS
virtual void
92 float focal_length,
float base_line,
float desired_angular_resolution=-1);
107 setDepthImage (
const float* depth_image,
int di_width,
int di_height,
float di_center_x,
float di_center_y,
108 float di_focal_length_x,
float di_focal_length_y,
float desired_angular_resolution=-1);
123 setDepthImage (
const unsigned short* depth_image,
int di_width,
int di_height,
float di_center_x,
float di_center_y,
124 float di_focal_length_x,
float di_focal_length_y,
float desired_angular_resolution=-1);
139 template <
typename Po
intCloudType>
void
141 int di_width,
int di_height,
float di_center_x,
float di_center_y,
142 float di_focal_length_x,
float di_focal_length_y,
143 const Eigen::Affine3f& sensor_pose,
145 float min_range=0.0f);
159 calculate3DPoint (
float image_x,
float image_y,
float range, Eigen::Vector3f& point)
const;
169 getImagePoint (
const Eigen::Vector3f& point,
float& image_x,
float& image_y,
float& range)
const;
184 PCL_EXPORTS
virtual void
185 getSubImage (
int sub_image_image_offset_x,
int sub_image_image_offset_y,
int sub_image_width,
186 int sub_image_height,
int combine_pixels,
RangeImage& sub_image)
const;
189 PCL_EXPORTS
virtual void
217 #include <pcl/range_image/impl/range_image_planar.hpp>
219 #endif //#ifndef PCL_RANGE_IMAGE_H_