Point Cloud Library (PCL) 1.12.1
range_image_spherical.h
1/*
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2012-, Open Perception, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the copyright holder(s) nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 */
34
35#pragma once
36
37#include <pcl/range_image/range_image.h>
38
39namespace pcl
40{
41 /** \brief @b RangeImageSpherical is derived from the original range image and uses a slightly different
42 * spherical projection. In the original range image, the image will appear more and more
43 * "scaled down" along the y axis, the further away from the mean line of the image a point is.
44 * This class removes this scaling, which makes it especially suitable for spinning LIDAR sensors
45 * that capure a 360° view, since a rotation of the sensor will now simply correspond to a shift of the
46 * range image. (This class is similar to RangeImagePlanar, but changes less of the behaviour of the base class.)
47 * \author Andreas Muetzel
48 * \ingroup range_image
49 */
51 {
52 public:
53 // =====TYPEDEFS=====
55 using Ptr = shared_ptr<RangeImageSpherical>;
56 using ConstPtr = shared_ptr<const RangeImageSpherical>;
57
58 // =====CONSTRUCTOR & DESTRUCTOR=====
59 /** Constructor */
61 /** Destructor */
63
64 /** Return a newly created RangeImagePlanar.
65 * Reimplementation to return an image of the same type. */
66 virtual RangeImage*
67 getNew () const { return new RangeImageSpherical; }
68
69 // =====PUBLIC METHODS=====
70 /** \brief Get a boost shared pointer of a copy of this */
71 inline Ptr
72 makeShared () { return Ptr (new RangeImageSpherical (*this)); }
73
74
75 // Since we reimplement some of these overloaded functions, we have to do the following:
78
79 /** \brief Calculate the 3D point according to the given image point and range
80 * \param image_x the x image position
81 * \param image_y the y image position
82 * \param range the range
83 * \param point the resulting 3D point
84 * \note Implementation according to planar range images (compared to spherical as in the original)
85 */
86 virtual inline void
87 calculate3DPoint (float image_x, float image_y, float range, Eigen::Vector3f& point) const;
88
89 /** \brief Calculate the image point and range from the given 3D point
90 * \param point the resulting 3D point
91 * \param image_x the resulting x image position
92 * \param image_y the resulting y image position
93 * \param range the resulting range
94 * \note Implementation according to planar range images (compared to spherical as in the original)
95 */
96 virtual inline void
97 getImagePoint (const Eigen::Vector3f& point, float& image_x, float& image_y, float& range) const;
98
99 /** Get the angles corresponding to the given image point */
100 inline void
101 getAnglesFromImagePoint (float image_x, float image_y, float& angle_x, float& angle_y) const;
102
103 /** Get the image point corresponding to the given ranges */
104 inline void
105 getImagePointFromAngles (float angle_x, float angle_y, float& image_x, float& image_y) const;
106
107 };
108} // namespace end
109
110
111#include <pcl/range_image/impl/range_image_spherical.hpp> // Definitions of templated and inline functions
RangeImage is derived from pcl/PointCloud and provides functionalities with focus on situations where...
Definition: range_image.h:55
void calculate3DPoint(float image_x, float image_y, float range, PointWithRange &point) const
Calculate the 3D point according to the given image point and range.
shared_ptr< RangeImage > Ptr
Definition: range_image.h:60
virtual void getImagePoint(const Eigen::Vector3f &point, float &image_x, float &image_y, float &range) const
Get imagePoint from 3D point in world coordinates.
shared_ptr< const RangeImage > ConstPtr
Definition: range_image.h:61
PCL_EXPORTS RangeImage()
Constructor.
RangeImageSpherical is derived from the original range image and uses a slightly different spherical ...
PCL_EXPORTS RangeImageSpherical()
Constructor.
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.
shared_ptr< RangeImageSpherical > Ptr
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.
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.
virtual RangeImage * getNew() const
Return a newly created RangeImagePlanar.
virtual PCL_EXPORTS ~RangeImageSpherical()
Destructor.
#define PCL_EXPORTS
Definition: pcl_macros.h:323