RangeImageSpherical is derived from the original range image and uses a slightly different spherical projection. More...
#include <pcl/range_image/range_image_spherical.h>
Public Types | |
| typedef RangeImage | BaseClass |
| typedef boost::shared_ptr < RangeImageSpherical > | Ptr |
| typedef boost::shared_ptr < const RangeImageSpherical > | ConstPtr |
Public Member Functions | |
| PCL_EXPORTS | RangeImageSpherical () |
| Constructor. | |
| virtual PCL_EXPORTS | ~RangeImageSpherical () |
| Destructor. | |
| virtual RangeImage * | getNew () const |
| Return a newly created RangeImagePlanar. | |
| Ptr | makeShared () |
| Get a boost shared pointer of a copy of this. | |
| virtual void | calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f &point) const |
| Calculate the 3D point according to the given image point and range. | |
| virtual void | getImagePoint (const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const |
| Calculate the image point and range from the given 3D point. | |
| void | getAnglesFromImagePoint (float image_x, float image_y, float &angle_x, float &angle_y) const |
| Get the angles corresponding to the given image point. | |
| void | getImagePointFromAngles (float angle_x, float angle_y, float &image_x, float &image_y) const |
| Get the image point corresponding to the given ranges. | |
RangeImageSpherical is derived from the original range image and uses a slightly different spherical projection.
In the original range image, the image will appear more and more "scaled down" along the y axis, the further away from the mean line of the image a point is. This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the range image. (This class is similar to RangeImagePlanar, but changes less of the behaviour of the base class.)
Definition at line 51 of file range_image_spherical.h.
Reimplemented from pcl::RangeImage.
Definition at line 55 of file range_image_spherical.h.
| typedef boost::shared_ptr<const RangeImageSpherical> pcl::RangeImageSpherical::ConstPtr |
Reimplemented from pcl::RangeImage.
Definition at line 57 of file range_image_spherical.h.
| typedef boost::shared_ptr<RangeImageSpherical> pcl::RangeImageSpherical::Ptr |
Reimplemented from pcl::RangeImage.
Definition at line 56 of file range_image_spherical.h.
| PCL_EXPORTS pcl::RangeImageSpherical::RangeImageSpherical | ( | ) | [inline] |
Constructor.
Definition at line 61 of file range_image_spherical.h.
| virtual PCL_EXPORTS pcl::RangeImageSpherical::~RangeImageSpherical | ( | ) | [inline, virtual] |
Destructor.
Definition at line 63 of file range_image_spherical.h.
| void pcl::RangeImageSpherical::calculate3DPoint | ( | float | image_x, | |
| float | image_y, | |||
| float | range, | |||
| Eigen::Vector3f & | point | |||
| ) | const [inline, virtual] |
Calculate the 3D point according to the given image point and range.
| image_x | the x image position | |
| image_y | the y image position | |
| range | the range | |
| point | the resulting 3D point |
Reimplemented from pcl::RangeImage.
Definition at line 44 of file range_image_spherical.hpp.
References getAnglesFromImagePoint(), and pcl::RangeImage::to_world_system_.
| void pcl::RangeImageSpherical::getAnglesFromImagePoint | ( | float | image_x, | |
| float | image_y, | |||
| float & | angle_x, | |||
| float & | angle_y | |||
| ) | const [inline] |
Get the angles corresponding to the given image point.
Reimplemented from pcl::RangeImage.
Definition at line 66 of file range_image_spherical.hpp.
References pcl::RangeImage::angular_resolution_x_, pcl::RangeImage::angular_resolution_y_, pcl::RangeImage::image_offset_x_, and pcl::RangeImage::image_offset_y_.
Referenced by calculate3DPoint().
| void pcl::RangeImageSpherical::getImagePoint | ( | const Eigen::Vector3f & | point, | |
| float & | image_x, | |||
| float & | image_y, | |||
| float & | range | |||
| ) | const [inline, virtual] |
Calculate the image point and range from the given 3D point.
| point | the resulting 3D point | |
| image_x | the resulting x image position | |
| image_y | the resulting y image position | |
| range | the resulting range |
Reimplemented from pcl::RangeImage.
Definition at line 56 of file range_image_spherical.hpp.
References pcl::RangeImage::asinLookUp(), pcl::RangeImage::atan2LookUp(), getImagePointFromAngles(), and pcl::RangeImage::to_range_image_system_.
| void pcl::RangeImageSpherical::getImagePointFromAngles | ( | float | angle_x, | |
| float | angle_y, | |||
| float & | image_x, | |||
| float & | image_y | |||
| ) | const [inline] |
Get the image point corresponding to the given ranges.
Reimplemented from pcl::RangeImage.
Definition at line 73 of file range_image_spherical.hpp.
References pcl::RangeImage::angular_resolution_x_reciprocal_, pcl::RangeImage::angular_resolution_y_reciprocal_, pcl::RangeImage::image_offset_x_, and pcl::RangeImage::image_offset_y_.
Referenced by getImagePoint().
| virtual RangeImage* pcl::RangeImageSpherical::getNew | ( | ) | const [inline, virtual] |
Return a newly created RangeImagePlanar.
Reimplmentation to return an image of the same type.
Reimplemented from pcl::RangeImage.
Definition at line 68 of file range_image_spherical.h.
| Ptr pcl::RangeImageSpherical::makeShared | ( | ) | [inline] |
Get a boost shared pointer of a copy of this.
Reimplemented from pcl::RangeImage.
Definition at line 73 of file range_image_spherical.h.
